WO2023016469A1 - 手术机器人系统 - Google Patents

手术机器人系统 Download PDF

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Publication number
WO2023016469A1
WO2023016469A1 PCT/CN2022/111249 CN2022111249W WO2023016469A1 WO 2023016469 A1 WO2023016469 A1 WO 2023016469A1 CN 2022111249 W CN2022111249 W CN 2022111249W WO 2023016469 A1 WO2023016469 A1 WO 2023016469A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide wire
control module
fixed
catheter
sun gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/111249
Other languages
English (en)
French (fr)
Inventor
沈碧峰
洪炯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jrobotics Inc
Original Assignee
Jrobotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110921449.1A external-priority patent/CN113598947B/zh
Priority claimed from CN202210114671.5A external-priority patent/CN116549814B/zh
Priority claimed from CN202210114658.XA external-priority patent/CN116549117A/zh
Priority claimed from CN202210120116.3A external-priority patent/CN116549118A/zh
Application filed by Jrobotics Inc filed Critical Jrobotics Inc
Priority to JP2023540725A priority Critical patent/JP7656361B2/ja
Priority to US18/251,145 priority patent/US20240008943A1/en
Priority to EP22855450.7A priority patent/EP4233763B1/en
Priority to ES22855450T priority patent/ES3039585T3/es
Publication of WO2023016469A1 publication Critical patent/WO2023016469A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0172—Exchanging a guidewire while keeping the catheter in place
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/10—Balloon catheters

Definitions

  • the present invention relates to the field of medical instruments, and more particularly relates to a surgical robot system.
  • Interventional surgery is based on imaging. Under the guidance of X-ray, ultrasound or CT equipment, it uses guide wires, catheters or stents, and other medical devices to diagnose and treat diseases. It is a relatively advanced minimally invasive surgery. technology. Manually inserting a catheter or introducer into a patient is a relatively routine surgical procedure. Attempts are underway to roboticize this insertion. Such robotics are complicated by the difficulty of grasping the catheter, the slippery shape of the catheter and the need to maintain sterility during the procedure, all of which increase the difficulty of robotization. Despite these difficulties, the reliability and precision of such robotic systems are the determining factors for their acceptance by the medical community.
  • the present invention develops a surgical robot system, which can remotely control the rotation, advancement and movement of the guide wire control module, the catheter/balloon/stent control module and the guide catheter control module through the remote microcomputer control terminal.
  • Retreat through the non-contact motor system, a space gap is formed between the execution shell and the drive shell of the terminal execution system to place sterile cloth and other items to reduce pollution without affecting the normal operation of the vascular interventional robot; by using The rack and pinion set of the guiding catheter enables the effective positioning of the guiding catheter control module before the operation, and does not hinder the relative movement between the components of the module during the operation, avoiding unnecessary relative movement between the components Loss of precision caused by displacement; through the locator component, the axial and radial positions of the sun gear in the guide wire control module can be effectively positioned, and the dynamic and static state of the surgical manipulator can be controlled to ensure the safety of the robot and regulate the guide wire The precision; move the drive components such as motor, transmission rod, etc.
  • the mechanical braking in the present invention is mainly realized by the meshing between the gears and the transmission effect of the transmission rod.
  • the invention is convenient to operate and precise in regulation.
  • the invention provides a surgical robot system, which includes a remote microcomputer control terminal, a surgical robot arm and a terminal execution system.
  • the terminal execution system includes a guide wire control module for controlling the advance, retreat and rotation of the guide wire
  • the guide wire control module includes: a rotating assembly for controlling the rotation of the guide wire, and the rotating assembly includes a rotating A wheel set, a rotating shaft concentrically connected with the rotating wheel set, a planetary gear sleeved on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear, wherein the There is a wire groove on the sun gear, and the wire groove is opened from the valley bottom between the teeth of the sun gear to the center of the sun gear, and the wire groove is used to insert the guide wire and ensure the guide wire to rotate coaxiality; and a travel assembly for controlling the advancement or retreat of the guide wire, the travel assembly includes a travel wheel set, a transmission screw rod concentrically connected with the bevel gear of the travel wheel set, and is used to
  • the rotation of the rotating wheel set in the guide wire control module drives the concentrically connected rotating shaft to rotate together, and the rotating shaft drives the rotation of the planetary wheel, and the planetary wheel passes through The meshing action drives the sun gear to rotate, thereby driving the guide wire to rotate.
  • the rotation of the bevel gear of the traveling wheel set drives the transmission screw to rotate
  • the fixed plate is threadedly connected with the transmission screw, and moves forward or backward with the rotation of the transmission screw, the fixed
  • the advance or retreat of the disc drives the advance or retreat of the guide wire.
  • the friction wheel set gear of the transmission wheel assembly in the balloon/stent control module rotates to drive the upper friction wheel to rotate, and the rotation of the friction wheel drives the balloon held by the friction wheel Advancement or retraction of catheter or stent catheter.
  • the gear in the rack and pinion set of the Y-shaped combination in the guide catheter module drives the rack gear meshed with it to move, so that the Y-shaped valve and the connected guide catheter move forward or back.
  • At least two fixed gears are provided on the fixed plate, and the fixed gears are engaged with the sun gear for fixing the sun gear.
  • the guide wire control module includes a locking device for locking the guide wire, and the locking device is fixed on the sun gear.
  • the locking device includes a locking control assembly, an active component, and a fixed component, wherein the fixed component is fixed on the sun gear and aligned with one side of the wire groove, so The active part is arranged relative to the fixed part and is aligned with the other side of the wire groove, and the locking control assembly is connected to the active part for controlling the movement of the active part relative to the fixed part Positional relationship.
  • the locking control assembly includes a button, a linkage rod, a spring and a limit block, wherein the spring and the limit block are arranged in the inner cavity of the active component, and the The limiting block is fixed, the spring is located between the limiting block and the side wall of the active component, one end of the linkage rod is connected to the button, and the other end is connected to the active component.
  • the guide wire control module includes a guide wire supporting rod, and the guide wire supporting rod is arranged between the wheel set and the fixing plate.
  • the operator remotely controls the movement of the guide wire control module, the balloon/stent control module and the guiding catheter control module through signal transmission through the remote microcomputer control terminal.
  • the present invention also provides a surgical robot system, which is used for manipulating guide wires, balloons or stents during surgery, can control the advance, retreat and rotation of guide wires, and can also control balloon catheters or stent catheters, and guide wires.
  • the system includes a remote microcomputer control end, a surgical robot arm and a terminal execution system.
  • the terminal execution system includes a guide wire control module, which is used to control the advance, retreat and rotation of the guide wire
  • the guide wire control module includes: a rotating assembly, which is used to control the rotation of the guide wire
  • the The rotating assembly includes a rotating bevel gear, a rotating shaft concentrically connected with the rotating bevel gear, a planetary gear sleeved on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear , wherein the sun gear is provided with a wire groove, the wire groove is used to embed the guide wire
  • the conveying assembly is used to control the advance and retreat of the guide wire
  • the conveying assembly includes a power wheel set , a transmission screw rod concentrically connected with the gear of the power wheel set, and a fixed plate for supporting the sun gear; wherein, the rotating bevel gear and the power wheel set are all driven by a motor, and the rotating bevel
  • the rotation of the gear drives the concentrically connected rotating shaft to rotate together, and the rotating shaft
  • the rotating shaft is a hexagonal shaft.
  • the rotation axis is a polygonal axis.
  • the rotating shaft is a semicircular shaft or a convex/concave shaft.
  • both the sun gear and the planetary gear are arranged in the inner cavity of the fixed plate, and move with the forward and backward movement of the fixed plate.
  • the proximal end of the driving screw is connected and fixed to the bevel gear of the traveling wheel set
  • the proximal end of the rotating shaft is connected and fixed to the rotating wheel set
  • the far end of the driving screw is fixed. Both end and the far end of the rotating shaft are fixed on the fixed plate at the far end through bearings.
  • a wire groove similar to the wire groove on the sun gear is provided on the fixing plate to allow the insertion of the guide wire.
  • the initial positions of the rotating wheel set and the traveling wheel set are both located at the proximal end of the system.
  • the rotating wheel set and the traveling wheel set are located on the same section.
  • the length of the driving screw is 100-400mm; preferably, 150-250mm.
  • the length of the rotating shaft is 100-400mm; preferably, 150-250mm.
  • the traveling wheel set includes at least one pair of bevel gears; preferably, the traveling wheel set consists of two pairs of bevel gear sets.
  • the traveling wheel set consisting of more than two pairs of bevel gear sets includes a linked belt for connecting the bevel gears, and the bevel gears of the traveling wheel set are realized through the linked belt. linkage between.
  • the wire groove opening is arranged at the valley bottom between the teeth of the sun gear, so as not to affect the meshing between the sun gear and other gears.
  • the wire groove is opened from the bottom of the valley between the teeth of the sun gear to the center of the sun gear.
  • the wire groove on the sun gear is tapered along the radius from the outside to the inside, so as to be used for inserting guide wires of different diameters.
  • At least two fixed gears are provided on the fixed plate, and the fixed gears are engaged with the sun gear for fixing the sun gear.
  • the fixed disc is a hollow disc
  • the sun gear, the planetary gear and the fixed gear are placed in the hollow cavity of the fixed disc
  • the fixed disc is also provided with radial An opening for insertion of the guide wire.
  • the sun gear and the fixed plate are concentrically aligned.
  • the system includes a locking device for locking the guide wire, and the locking device is fixed on the sun gear.
  • the locking device includes a locking control assembly, an active component, and a fixed component, wherein the fixed component is fixed on the sun gear and aligned with one side of the wire groove, so The active part is arranged relative to the fixed part and is aligned with the other side of the wire groove, and the locking control assembly is connected to the active part for controlling the movement of the active part relative to the fixed part Positional relationship.
  • the locking control component controls the active component to be away from the fixed component, that is, the wire groove forms a passage, and the guide wire can be embedded.
  • the locking control assembly controls the active part to abut against the fixed part, so as to clamp the guide wire embedded in the wire slot.
  • the locking device may be an electric clamp structure driven by electric power.
  • the locking device may be a pneumatic clamp structure driven by pneumatics.
  • the locking control assembly includes a button, a linkage rod, a spring and a limit block, wherein the spring and the limit block are arranged in the inner cavity of the active component, and the The limiting block is fixed, the spring is located between the limiting block and the side wall of the active component, one end of the linkage rod is connected to the button, and the other end is connected to the active component.
  • the linkage rod When the locking device is in the released state, by pressing the button, the linkage rod is driven to move outward, thereby driving the active part to move radially outward, and the active part is far away from the fixed part. , the spring is in a compressed state.
  • the pressing control on the button is released, and under the elastic force of the spring, the active part moves radially inward and abuts against the fixed part, and the button Return to the original position.
  • the contact surface between the active part and the fixed part is a tooth-shaped clamping surface, so as to provide greater clamping force for the guide wire.
  • the system includes a guide wire support rod, and the guide wire support rod is arranged between the sun gear and the fixed plate.
  • the guide wire support rod is slidable along the axial direction of the guide wire.
  • the guide wire supporting rod includes a support frame and pulleys on both sides, wherein a wire groove corresponding to the wire groove on the sun gear and the fixing plate is provided on the support frame , in the state of use, the guide wire is embedded in the wire groove, and the pulleys on both sides can move in the sliding grooves on the corresponding two side wall surfaces respectively.
  • the chute starts from the two side wall surfaces corresponding to the middle section of the sun gear and the fixing plate, and ends on the two side wall surfaces corresponding to the fixing plate.
  • the chute starts from the two side walls corresponding to the sun gear and ends on the two side walls corresponding to the fixing plate, wherein, between the sun gear and the fixing plate A stopper is provided on the chute section corresponding to the middle section of the plate, and the stopper is used to stop the guide wire supporting rod from continuing to slide toward the sun gear.
  • a first magnet is provided on the guide wire supporting rod, and correspondingly, a second magnet is provided on the fixed plate, and the first magnet and the second magnet attract each other.
  • the guide wire supporting rod In the operation of feeding the guide wire, the guide wire supporting rod is initially located in the middle section of the sun gear and the fixed plate and the guide wire is placed in the groove, along with the fixed plate along the
  • the driving screw moves to the distal end, the second magnet and the first magnet generate an attraction effect, and the guide wire supporting rod continues to move distally together with the fixed disk; during the operation of retracting the guide wire , the guide wire supporting rod is retracted to the proximal end together with the fixed plate, when it is retracted to the middle position of the sun gear and the fixed plate, the stopper or the chute wall Under the blocking effect of the guide wire, the guide wire support rod is fixed without retraction, and the fixed plate can continue to retract.
  • all wire slots form a passage from the proximal end to the center of the Y-shaped valve.
  • the system includes at least one pair of wire drive wheels for supporting and delivering the guide wire at the distal end.
  • the guide wire driving wheel is arranged on the distal side of the fixing plate, and is 5-15 mm away from the fixing plate (central distance).
  • the junction of the guide wire drive wheel corresponds to the slot on the fixing plate.
  • the guide wire is placed between at least one pair of the guide wire drive wheels, and the guide wire is transported through friction between at least one pair of the guide wire drive wheels.
  • At least one pair of the guide wire drive wheels is equipped with at least one lock switch, and the lock switch is used to control the distance between the pair of guide wire drive wheels, thereby controlling at least one pair of guide wire drive wheels.
  • the system includes at least one set of driving wheels, and the driving wheels are used to support and deliver the balloon catheter or stent catheter.
  • the balloon catheter or stent is placed between at least one set of transmission wheels, and the balloon catheter or stent catheter is delivered through friction between at least one set of transmission wheels.
  • At least one set of transmission wheels is equipped with at least one pair of locking switches, and the locking switch is used to control the distance between a set of transmission wheels, thereby controlling the locking condition of at least one set of transmission wheels.
  • the system includes a Y-shaped combination, the Y-shaped combination is used for the Y-shaped quick combination of the guide wire and the guide catheter, the Y-shaped combination is movable, through The movement of the Y-shaped combination controls the forward and backward movement of the guiding catheter.
  • the movement of the Y-shaped combination can deliver or withdraw the guiding catheter.
  • the Y-shaped combination is arranged at the distal end of the system, 10-200 mm away from the fixing plate (center-to-center distance); preferably, 80-120 mm.
  • the Y-shaped combination moves forward and backward through the engagement of the gear and the rack.
  • the Y-shaped combination is fixedly connected to the rack, the gear is connected to a motor, and the gear and the rack mesh with each other.
  • the motor drives the gear to rotate, and under meshing action, the rack moves forward or backward, thereby driving the Y-shaped combination to move forward or backward.
  • the number of the gears is two, namely a driving gear and a driven gear, the driving gear and the driven gear mesh with each other, and two racks are correspondingly provided, so The driving gear and the driven gear mesh with the two racks respectively.
  • the Y-shaped combination is openable and closable, and in the open state, rapid exchange of the guide wire and the balloon catheter or stent catheter can be implemented.
  • the Y-shaped combination is foldable, and the turning angle of the Y-shaped combination is 0-60 degrees.
  • the Y-shaped combination can control the rotation of the guiding catheter.
  • the operator remotely controls the movement of the guide wire control module, the balloon/stent control module and the guide catheter module through signal transmission through the remote microcomputer control terminal.
  • the front end of the Y-shaped valve (Y-shaped combination) is connected to the guiding catheter, and the front and rear movement of the Y-shaped valve is controlled to control the forward and backward movement of the guiding catheter;
  • the transmission wheel set clamps the balloon catheter or the stent catheter to advance or Backward;
  • the rotating wheel set and the advancing wheel set control the rotation, forward or backward of the wheel set holding the guide wire; and the rotation, forward or backward of all parts can be completed by the operator operating the terminal controller outside the operating room.
  • the system communicates with the terminal controller through wired, wireless (WiFi, Bluetooth, etc.) or Internet.
  • the operation terminal is a computer.
  • the operation terminal includes a tablet computer and a joystick
  • the surgeon can adjust the distance of the guidewire advance or retreat and the guidewire rotation angle by adjusting the parameters displayed on the tablet computer.
  • the guide catheter advances or retreats distance and the guide catheter rotation angle, and adjusts the advance or retreat distance of the balloon catheter or the stent catheter, and then operates the joystick to control the guide wire to rotate and advance or retreat, the joystick is operated to control the balloon catheter or the stent catheter to advance or retreat, and the joystick is operated to control the guide catheter to rotate, advance or retreat.
  • the system is placed in the outer box, and the outer box has a length of 400-800 mm, a width of 150-300 mm, and a height of 50-200 mm.
  • the diameter of the sun gear is 20-80mm.
  • the specifications of the planetary gear and at least two of the fixed gears are the same, and their diameters are both 15-30 mm.
  • the size of said planetary gear is different from the size of at least two of said fixed gears.
  • the diameter of the gears of the traveling wheel set is 15-30mm.
  • the diameter of the guide wire driving wheel is 5-20 mm.
  • the sleeve has a diameter of 80-200mm and a length of 250-600mm.
  • the length of the Y-shaped combination is 50-120 mm, the width is 30-60 mm, and the height is 10-40 mm.
  • the diameters of the driving gear and the connecting gear of the Y-shaped combination are both 5-20 mm.
  • the integral part composed of the rotating assembly, the delivery assembly and its accessories that is, the number of guide wire control modules can be superimposed to deliver multiple different guide wires to realize guide wire exchange during surgery .
  • the system is made of plastic materials such as PC and nylon or metal materials such as 304 and 316 stainless steel, which are non-toxic to the human body, can be sterilized, and are cheap and suitable for one-time use.
  • the system includes a non-contact motor system, and the non-contact motor system is arranged on the terminal execution system to provide driving force for the forward, backward and rotation of the interventional equipment;
  • the non-contact motor system includes a motor, a first magnetic induction coupling coupled with the motor and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling, and A transmission structure coupled with the second magnetic induction coupling; wherein, the first magnetic induction coupling and the second magnetic induction coupling are opposite to each other; the first magnetic induction coupling and the first magnetic induction coupling
  • the distance between the two magnetic induction couplings is 0-20 mm; preferably, 2-20 mm.
  • the number of the non-contact motor systems is 2-10.
  • the terminal execution system includes an execution casing and a drive casing, wherein the execution casing is loaded with mechanical components for driving the forward, backward and rotation of the interventional equipment, and the drive casing Carrying electrical components for powering the mechanical components.
  • the motor is fixed in the drive housing, and the second magnetic induction coupling is fixed on the bottom wall of the actuator housing.
  • a space layer with a thickness of 2-20 mm is formed between the actuator housing and the driving housing.
  • the first magnetic induction coupling is fixed on the motor shaft of the motor through jacking screws or pins.
  • the transmission structure is a gear set structure or a worm structure.
  • the terminal effector system includes a guide wire control module in the interventional equipment, and the guide wire control module includes a rotating assembly that controls the rotation of the guide wire through a rotating wheel set and a traveling wheel set that controls the rotation of the guide wire.
  • a travel assembly that controls the advance or retreat of the guide wire; wherein, both the rotating wheel set and the travel wheel set are driven by the non-contact motor system.
  • the terminal effector system includes a balloon/stent control module in the interventional equipment that controls the advancement or retreat of the balloon catheter or stent catheter through a friction wheel set, and a The rack and pinion set controls the guide catheter control module to advance or retreat the guide catheter; wherein, the friction wheel set and the rack and pinion set are both driven by the non-contact motor system.
  • the rack and pinion set includes a rack frame, the Y-shaped valve is fixed on the rack frame; a gear, and the gear is engaged with the spur rack on the rack frame a moving magnetic part installed on the rack frame; and a fixed magnetic part interacting with the moving magnetic part; wherein, the fixed magnetic part is fixed on the housing of the terminal execution system.
  • the rack frame includes a first tooth side, a second straight side and a third connecting side.
  • the first tooth side is provided with a straight rack meshed with the gear, and the second straight side is parallel to and opposite to the first tooth side.
  • the third connecting side connects the first tooth side and the second straight side to form a semi-enclosed structure, and the gear is located in the semi-enclosed structure.
  • one end of the gear meshes with the straight rack of the first tooth side, and the other end of the gear abuts against the second straight side.
  • the moving magnetic part is fixed on the third connecting side.
  • the moving magnetic part is fixed on the first side or the second side.
  • the rack frame before the operation, interacts with the fixed magnetic part fixed on the housing of the terminal effector through the moving magnetic part to prevent the rack frame from being arbitrarily slide.
  • the driving device drives the gear to rotate, and due to the meshing relationship between the gear and the rack frame, the rack frame overcomes the action of the fixed magnetic part and moves forward move, thereby driving the Y-valve to move forward.
  • the system includes a locator assembly, the locator assembly includes a guidewire control module locator, and the guidewire control module locator is used for positioning the guidewire control module of the terminal execution system; the The guide wire control module is used to control the advance, retreat and rotation of the guide wire.
  • the guide wire control module includes: a rotating assembly for controlling the rotation of the guide wire.
  • the rotating assembly includes a rotating wheel set, and the rotating The rotating shaft connected concentrically by the wheel group, the planetary gear sleeved on the rotating shaft and slidable relative to the rotating shaft, and the sun gear meshing with the planetary gear, wherein the sun gear is provided with a wire groove, The wire groove is opened from the valley bottom between the teeth of the sun gear to the center of the sun gear, the wire groove is used to embed the guide wire and ensure the coaxiality of the guide wire rotation; and travel Assembly, used to control the advance or retreat of the guide wire, the travel assembly includes a travel wheel set, a drive screw concentrically connected with the bevel gear of the travel wheel set, and a fixed plate for supporting the sun gear ;
  • the guidewire control module positioner includes a first sensing point arranged at the bottom of the fixed plate, which is used to sense the first sensor of the first sensing point; The second sensing point on the opposite end of the slot is used to sense the second sensor of the second sensing point; the first sensor and the second sensor are
  • both the first sensor and the second sensor are laser sensors.
  • both the first sensor and the second sensor are infrared sensors.
  • both the first inductor and the second inductor are electromagnetic inductors.
  • both the first inductor and the second inductor are arranged on the driving housing.
  • sensor openings are provided on the actuator housing at positions corresponding to the first sensor and the second sensor on the drive housing, and the first The sensor and the second sensor respectively sense the first sensing point and the second sensing point through the sensor opening.
  • the bottom wall of the actuator housing is transparent.
  • a bacteria-proof cloth is arranged in the air layer between the actuator housing and the driving housing to prevent contamination of components in the driving housing during operations.
  • the bacterial barrier cloth is transparent at the two sensors.
  • the positioner assembly further includes a surgical manipulator positioner, the surgical manipulator positioner is arranged on the drive housing of the terminal execution system, and is used to sense the Whether the body is located above the drive housing.
  • the surgical robot arm positioner when the surgical robot arm positioner senses that the execution housing is above the drive housing, the surgical robot arm is fixed; when the surgical robot arm positioner senses By the time the actuator housing is removed from the drive housing, the surgical robotic arm is free to move.
  • the surgical robot arm positioner is an infrared sensor.
  • the surgical robot arm positioner is a laser sensor.
  • the surgical robot arm positioner is an electromagnetic inductor.
  • the robot is used for interventional surgery, orthopedic surgery, surgery and gynecological surgery, including a remote computer control terminal, a surgical robot arm and a terminal execution system, wherein the terminal execution system is fixed on the surgical On the end of the robotic arm, and with the movement of the surgical robotic arm, the remote microcomputer control terminal controls the movement of the surgical robotic arm and the internal movement of the terminal execution system.
  • the guide wire control module ie guide wire movement/rotation module
  • one end of the guide wire is clamped on the sun gear, and the other end is placed on the guide wire control module. on the housing of the module.
  • a guide wire supporting sliding rod is placed between the sun gear and the housing cylinder.
  • the guide wire supporting sliding rod has a semicircular structure, and two L-shaped brackets protrude from the bottom edge of the semicircle. , embedded in the slide rail grooves on both sides of the shell cylinder, so that the guide wire supporting sliding rod can move forward and backward in the slide rail groove.
  • the guide wire supporting sliding rod is provided with an embedding groove from the top to near the center of the circle, with a width of 0.1-5 mm.
  • the height of the upper guide wire placement point is on the same horizontal line.
  • a round through hole is respectively opened on the side of the semicircular structure of the guide wire supporting sliding rod.
  • the diameter of the round through hole is 0.1-3 mm, and two flexible pipes are respectively inserted from both ends of the round through hole. After passing through the circular through hole, the pipe material is butted against at the insertion groove of the guide wire.
  • a first magnet is provided on the guide wire supporting sliding rod, and correspondingly, a second magnet is provided on the fixed plate, and the first magnet and the second magnet are mutually absorb.
  • the guide wire supporting sliding rod In the operation of feeding the guide wire, the guide wire supporting sliding rod is located in the middle section of the sun gear and the housing cylinder and the guide wire is placed in the insertion groove, along with the fixed plate along the
  • the driving screw rod moves to the proximal end, the second magnet and the first magnet generate an attraction effect, and the guide wire supporting sliding rod continues to move to the proximal end together with the fixed plate;
  • the guide wire supporting sliding rod is retracted to the distal end together with the fixed plate. Under the blocking effect of the guide wire, the guide wire supporting sliding rod is no longer retracted and is fixed, and the fixed plate can continue to retract.
  • a non-contact motor system is arranged on the terminal effector system to provide driving force for the delivery, withdrawal and rotation of the guide wire;
  • the non-contact motor system includes a motor, and The first magnetic induction coupling coupled with the motor and driven by the motor, the second magnetic induction coupling corresponding to the first magnetic induction coupling, and the second magnetic induction coupling coupled with the second magnetic induction coupling Transmission gear set; wherein, the first magnetic induction coupling and the second magnetic induction coupling are opposite to each other; the gap between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.
  • the motor is fixed in the drive housing, and the second magnetic induction coupling is fixed on the bottom wall of the actuator housing.
  • the sterile cloth is a blood-blocking sterile cloth, and the position of the sterile cloth corresponding to the sensor is transparent.
  • the transmission gear set is a bevel gear set or a spur gear set.
  • both the rotating wheel set and the traveling wheel set are driven by the non-contact motor system.
  • a guide wire central fixer is provided on the sun gear, which has a configuration similar to that of the above-mentioned guide wire supporting sliding rod and a pair of circular through holes, which are arranged corresponding to the wire slots , to fix the guide wire passing through the wire slot.
  • the guide wire central fixer is a cylindrical structure, fixedly connected with the center of the sun gear, slotted to the center of the circle like the sun gear, and corresponding to the wire groove, in Both sides of the slot are provided with circular through holes for inserting soft materials respectively.
  • the guide wire is inserted into the sun gear and the limiting groove, and the soft material presses the guide wire.
  • a guide wire locker is provided on the sun gear for locking and fixing the guide wire.
  • the guide wire locker can be fixed on the side of the sun gear.
  • the guidewire locker is fixed or removable.
  • the guide wire locker is divided into upper and lower parts, and semicircular grooves are provided on the bottom surface of the upper part and the top surface of the lower part, and the upper part and the lower part are covered In the closed state, the two semicircular grooves are combined into a guide wire hole, and a guide wire locking knob is provided at the end.
  • the bottom surface of the upper part and the top surface of the lower part of the guide wire locker in the state where the upper part and the lower part are covered, the guide wire is pressed and fixed.
  • the upper part and the lower part are covered by magnet attraction.
  • the upper part and the lower part may also be covered in other ways, including but not limited to clamping, fitting, bonding, frictional fixing and the like.
  • the guide wire locker includes a stud and a nut, wherein the guide wire is clamped between the lower edge of the stud and the upper edge of the nut, and the stud and the nut are tightened to clamp the guide wire, wherein one of the stud and the nut is fixed on the sun gear.
  • the guidewire locker includes a clip, wherein the clip is installed on the sun gear, the guidewire is put into the guidewire by loosening the clip, and the clamp can be clamped by clamping the clip. guide wire.
  • the guide wire includes but not limited to guide wire and other surgical equipment.
  • the present invention also provides a surgical robot system, which includes a remote microcomputer control terminal, a surgical robot arm, and a terminal execution system; wherein, the terminal execution system includes a guide wire control module, which is used to control the advance, retreat and rotation of the guide wire , the guide wire control module includes: a rotating assembly, the rotating assembly is used to control the rotation of the guide wire, the rotating assembly includes one or more planetary gears, and the first non-contact type that drives the rotation of the planetary gears A motor system and a sun gear meshed with the planetary gear, wherein the sun gear is provided with a wire slot, and the wire slot is used to embed the guide wire; the delivery assembly is used to control the movement of the guide wire Forward and backward, the conveying assembly includes a drive screw, a fixed plate for supporting the sun gear and the planet wheels and a second non-contact motor system for connecting the drive screw and the fixed plate ; Wherein, the drive screw is arranged coaxially with the motor shaft of the motor of the second non-contact motor system, and with the
  • the first contactless motor system is attached to the second contactless motor system.
  • the terminal execution system includes a drive housing and an execution housing, wherein the planetary gear, the sun gear and the fixed disk are arranged in the execution housing, and the transmission wire
  • the rod is arranged in the drive housing, and the drive housing and the actuator housing are connected as a whole through the first non-contact motor system and the second non-contact motor system, wherein the first A motor of a non-contact motor system is attached to the driving screw through an intermediate connecting piece, and advances and retreats together with the fixed disk.
  • the second magnetic induction coupling is directly connected to the fixed disk, and the driving screw is installed in the drive housing, the driving screw and the driving screw that drives the rotation of the driving screw
  • the motor shaft of the motor is directly connected, and the motor drives the transmission screw to rotate.
  • the intermediate connector is sleeved on the transmission screw and is threadedly connected with the transmission screw. , the intermediate connecting piece can move back and forth, the first magnetic induction coupling is fixedly connected with the intermediate connecting piece, and the second magnetic induction coupling also faces the side and the intermediate connecting piece located on the side
  • the connected first magnetic induction coupling is used in cooperation under the action of magnetic force, so that when the motor rotates, the wheel set can move forward and backward.
  • This structure can move the transmission screw rod from the actuator housing to the drive housing, and the configuration can simplify the structure in the actuator housing and reduce the use of gears.
  • first magnetic induction coupling and the second magnetic induction coupling can be connected in contact, and slots are made on the movement track of the coupling between the actuator housing and the driving housing, so that the coupling can move .
  • the shaft coupling may be a non-magnetic mechanical connection, and slots are slotted on the motion track of the coupling between the actuator housing and the driving housing to facilitate the movement of the coupling.
  • the drive screw, the motor that drives the drive screw to rotate, the intermediate connecting piece sleeved on the driving screw, and the intermediate connecting piece connected to The first magnetic induction coupling forms an integral structure and is located on the side of the terminal execution system or in the drive housing.
  • the motor that drives the rotation of the planetary wheel is similar to the motor that drives the rotation of the transmission screw and is also moved to the side of the terminal execution system or the drive housing.
  • the driving screw, the motor driving the driving screw, and the motor driving the planetary wheels are all moved into the driving housing.
  • the motor that drives the rotation of the planetary wheel (for example, through a tray, a carrier, etc.) is attached to the intermediate connecting member and is synchronized with the wheel set with the rotation of the driving screw rod March.
  • the planetary wheels are all fixed in the fixed plate at substantially uniform intervals through the optical axis, wherein the planetary wheels can rotate relative to the optical axis, and one of the planetary wheels is passed through a worm, a transmission gear (group) etc. are engaged with the second magnetic induction coupling.
  • a magnetic induction coupling group is connected through an intermediate connecting piece to drive the wheel set to move forward, and at the same time, the drive wire
  • the rotation of the rod drives the motor that drives the rotation of the planetary wheel to advance synchronously with the set of discs, and the motor that drives the rotation of the planetary wheel drives the planetary wheel in the fixed plate through another set of magnetic induction couplings. rotates, which in turn causes the sun gear, which meshes with the planet gears, to rotate.
  • the supporting guide rail is provided under the motor driving the planetary wheel to support the motor driving the planetary wheel and provide guidance for its travel.
  • the supporting guide rail includes the guide rail provided on the drive housing and a roller attached to the bottom of the motor driving the planetary wheel, wherein the roller can be in the guide rail Sliding to play a supporting and guiding role.
  • the support guide rail is a guide bar with a smooth surface arranged on the drive housing, and the upper surface of the guide bar is in sliding contact with the lower surface of the motor that drives the planetary wheel to rotate (or Magnetic levitation support guide, etc.) to provide support and guidance.
  • the Y-shaped combination also includes a guiding catheter support part, which is used to support the guiding catheter protruding from the Y-shaped valve, so as to prevent it from protruding out of the Y-shaped valve for a long distance. resulting in sagging collapse.
  • the guide catheter support component includes a sliding sleeve, a sliding sleeve handle, and a sliding sleeve track.
  • the sliding sleeve track is provided in the Y-shaped valve for accommodating the sliding sleeve, and the sliding sleeve can slide in the sliding sleeve track to extend out of the Y-valve or withdraw into the Y-valve.
  • the sliding sleeve handle is provided at the distal end of the sliding sleeve (the end away from the operator), and the operator can control the guiding catheter by dragging the sliding sleeve handle. marching.
  • the handle of the sliding sleeve is a protrusion located at the distal end of the sliding sleeve.
  • the upper part of the sliding sleeve is provided with an axial long slit, and the guide tube can enter the sliding sleeve through the axial long slit and be accommodated therein.
  • the sliding sleeve when the guiding catheter protrudes from the Y-shaped valve for a long distance, the sliding sleeve is pulled out of the sliding sleeve track by pulling the sliding sleeve handle to support protruding guide catheter.
  • Surgical instruments used include, but are not limited to, guide wires, guiding catheters, balloon catheters, and stents, among others.
  • Robotic operation can enable the operator to remotely control the instrument outside the operating room, avoiding radiation damage to the operator;
  • Figure 1a is a schematic diagram of the layout of an operating room with a surgical robot system in an example of the present invention
  • Fig. 1 b is a flowchart of the operation of a system with a surgical robot in one example of the present invention
  • Fig. 2 is a perspective view of the execution housing of the surgical robot system of an example of the present invention
  • Fig. 3 is a top view of the actuator housing in Fig. 2;
  • Fig. 4 is a sectional view taken along the A-A section of Fig. 3;
  • Fig. 5 is a sectional view taken along the B-B section of Fig. 3;
  • Fig. 6 is the perspective view of the sun gear with locking device of an example of the present invention.
  • Fig. 7 is a sectional view of the locking device of an example of the present invention, wherein the locking device is in a locked state;
  • Fig. 8 is a sectional view of the locking device of an example of the present invention, wherein the locking device is in a released state;
  • Fig. 9 is a top view of the drive wheel in a locked state of an example of the present invention.
  • Fig. 10 is a top view of the transmission wheel in Fig. 9 in a loosened state
  • Fig. 11 is a top view of the Y-shaped combination of an example of the present invention in an advancing state
  • Figure 12 is a top view of the Y-shaped combination in Figure 11 in a withdrawn state
  • Fig. 13 is a schematic diagram of the kinematic mechanism of the Y-type assembly of an example of the present invention.
  • Fig. 14 is the perspective view of the Y-type assembly of an example of the present invention.
  • Fig. 15 is a perspective view of the Y-shaped combination in Fig. 14 in a raised state
  • Figure 16 is a perspective view of the Y-shaped combination in Figure 14 in an open state
  • Fig. 17 is a top view of a terminal execution system in an example of the present invention.
  • Fig. 18 is a cross-sectional view of the terminal execution system in Fig. 17;
  • Fig. 19 is an enlarged view of part I in Fig. 18;
  • Fig. 20 is a front view of the terminal execution system in Fig. 17;
  • Fig. 21 is an enlarged view of part II in Fig. 20;
  • Fig. 22 is a cross-sectional view of a terminal execution system in an example of the present invention.
  • Fig. 23 is a top view of the drive housing of the terminal execution system in Fig. 22;
  • Fig. 24 is a perspective view of the wire control module of the terminal execution system in an example of the present invention.
  • FIG. 25 is a front view of the guidewire control module of the end effect system of FIG. 24 and schematically illustrates two control module positioners;
  • Fig. 26 is a perspective view of a guide wire supporting sliding rod in an example of the present invention.
  • Fig. 27 is a cross-sectional view of the guide wire supporting sliding rod in Fig. 26, showing symmetrical round through holes;
  • Fig. 28 is a perspective view of a guidewire central fixer in an example of the present invention.
  • Figure 29 is a perspective view of a guide wire locker in an example of the present invention.
  • Figure 30 is a cross-sectional view of the guide wire locker in Figure 29;
  • Fig. 31 is a top view of placing the guidewire central fixer in Fig. 28 and the guidewire locker in Fig. 29 in the end effector system;
  • Figure 32 is a sectional view taken along the E-E section in Figure 31;
  • Figure 33 is a schematic diagram of a rack and pinion set in an initial state in an example of the present invention.
  • Fig. 34 is a schematic diagram of the rack and pinion set in Fig. 33 being in operation;
  • Fig. 35 is the front view of the rack frame of the rack and pinion set in Fig. 33 and Fig. 34;
  • Figure 36 is a perspective view of the rack frame of the rack and pinion set in Figure 35;
  • Fig. 37 is a cross-sectional view of a terminal execution system in another embodiment of the present invention.
  • Fig. 38 is a cross-sectional view of a terminal execution system in another embodiment of the present invention.
  • Fig. 39 is an axial sectional view of a terminal execution system in yet another embodiment of the present invention.
  • Fig. 40 is a front view of an actuator casing provided with a guiding catheter supporting part in an embodiment of the present invention.
  • Fig. 41 is a top view of an actuator casing provided with a guiding catheter support part in an embodiment of the present invention.
  • Fig. 42 is a sectional view taken along the F-F section in Fig. 41 .
  • the inventor developed a surgical robot system for the first time through a large number of screenings.
  • the system of the present application performs interventional surgery by remotely operating the robot to realize remote control of the guide wire during surgery , the advancement, retreat and rotation of the guiding catheter, and the advancement and retreat of the balloon catheter, stent, and catheter can also be controlled at the same time;
  • the terminal execution system is divided into the upper executive housing and the lower driving housing through a non-contact motor system , the execution housing is used to accommodate the module components of each interventional device for one-time use, the drive housing is used to accommodate the power supply and control parts that cannot be sterilized and cleaned, and a space gap is formed between the execution housing and the drive housing to place no Bacterial cloth, blocking the pollution of the non-sterilizable and cleaning parts of the drive shell, so as not to affect the normal operation of the vascular interventional robot;
  • the second sensor and the second sensing point for positioning the radial position of the sun gear can effectively determine the position and
  • the present invention integrates various interventional operations
  • the consumables are combined in one system, in which the mechanical braking is mainly realized by the meshing between the gears or the transmission through the transmission rod.
  • the robotization of the operation improves the stability and accuracy of the operation. Further, the operator reduces the risk of cross-infection between doctors and patients through remote control. On this basis, the present invention is completed.
  • the surgical robot system of this embodiment is shown in Figures 1a-16.
  • the surgical robot system has a remote microcomputer control terminal 56 , a surgical robotic arm 55 and a terminal execution system 54 .
  • the terminal execution system 54 includes a guide wire control module, a balloon/stent control module and a guide catheter control module, which can control the advance, retreat and rotation of the guide wire, and can also control the balloon catheter or stent catheter, and the guide catheter forward, backward and rotation.
  • the guidewire control module includes a rotating assembly and a traveling assembly.
  • the rotating assembly is used to control the rotation of the guide wire.
  • the rotating assembly includes a rotating wheel set, a rotating shaft 8 concentrically connected with the traveling wheel set 5, a planetary wheel 16 sleeved on the rotating shaft 8 and slidable relative to the rotating shaft, and The sun gear 15 meshed with the planetary gear 16, wherein the sun gear 15 is provided with a wire groove 14 for inserting a wire groove.
  • the slot 14 is opened at the bottom of the valley between the teeth of the sun gear 15, which will not affect the meshing between the sun gear 15 and other gears.
  • the wire groove 14 is opened from the valley bottom between the teeth of the sun gear 15 to the center of the sun gear 15, and the wire groove 14 is used to embed the guide wire and ensure the coaxiality of the guide wire rotation.
  • the rotating shaft 8 is a hexagonal shaft.
  • the travel assembly is used to control the advance or retreat of the guide wire, and the travel assembly includes a travel wheel set 5 , a drive screw 2 concentrically connected with the gears of the travel wheel set 5 , and a fixed plate 10 for supporting the sun gear 15 . Both the sun gear 15 and the planetary gear 16 are placed in the inner cavity of the fixed plate 10 and move with the forward and backward movement of the fixed plate 10 .
  • the proximal end of the transmission screw mandrel 2 is connected and fixed with the travel bevel gear 11 of the travel wheel set 5, the proximal end of the rotating shaft 8 is connected and fixed with the rotating wheel set, and the far end of the drive screw mandrel 2 and the far end of the rotating shaft are all fixed by bearings On the fixed plate 24 at the far end.
  • a wire groove 14 is provided on the fixing plate 24 to allow insertion of a guide wire.
  • the traveling wheel set 5 is composed of two groups of traveling bevel gears 11 groups.
  • the traveling wheel set 5 also includes an interlocking belt 12 for connecting the traveling bevel gears 11 , and the interlocking movement between the traveling bevel gears 11 of the traveling wheel set 5 is realized through the interlocking belt 12 .
  • the fixed disk 10 is a hollow disk, the sun gear 15 is placed in the hollow cavity of the fixed disk 10, and the fixed disk 10 is also provided with a radial opening for the insertion of the guide wire.
  • the sun gear 15 and the fixed disk 10 are concentrically aligned.
  • the rotating wheel set and the traveling wheel set 5 are all located on the same section.
  • the rotating wheel group and the traveling wheel group 5 are all driven by a motor, and the rotation of the rotating wheel group drives the concentrically connected rotating shaft 8 to rotate together, and the rotating shaft 8 drives the planetary wheel 16 to rotate, and the planetary wheel 16 drives the sun gear 15 to rotate through meshing.
  • the rotation of the gear of the traveling wheel set 5 drives the transmission screw mandrel 2 to rotate, and the fixed disk 10 is threadedly connected with the transmission screw mandrel 2, and moves forward or backward along with the rotation of the transmission screw mandrel 2 .
  • At least two fixed gears 13 are arranged on the fixed plate 10 , and the fixed gears 13 are meshed with the sun gear 15 for fixing the sun gear 15 .
  • the fixed gear 13 is arranged symmetrically on the upper part of the fixed plate 10 to provide a symmetrical support force for the sun gear 15 and a clamping force corresponding to the rotating shaft 8 .
  • the combination of the sun gear 15 , the fixed gear 13 , the planetary gear 16 and the fixed disc 10 is called the wheel set 3 .
  • the guide wire control module includes a locking device for locking the guide wire, and the locking device is fixed on the sun gear 15 .
  • the locking device includes a locking control assembly, an active part 21, and a fixed part 22, wherein the fixed part 22 is fixed on the sun gear 15 and is aligned with one side of the wire groove 14, and the active part 21 is arranged relative to the fixed part 22, and Aligned with the other side of the trunking 14 , the locking control assembly is connected to the active component 21 for controlling the positional relationship of the active component 21 relative to the fixed component 22 .
  • the locking control assembly controls the active part 21 to be far away from the fixed part 22, that is, the wire slot 14 forms a passage for inserting a guide wire.
  • the locking control assembly controls the active part 21 to abut against the fixed part 22 to clamp the guide wire embedded in the wire groove 14 .
  • the locking device can be actuated electrically or pneumatically.
  • the locking control assembly includes a button 17, a linkage rod 18, a spring 19 and a stop block 20, wherein the spring 19 and the stop block 20 are arranged in the inner cavity of the active component 21, the stop block 20 is fixed, and the spring 19 Located between the limiting block 20 and the side wall of the active component 21 , one end of the linkage rod 18 is connected to the button 17 , and the other end is connected to the active component 21 .
  • the linkage rod 18 is driven to move outward, thereby driving the active part 21 to move radially outward, and the active part 21 is far away from the fixed part 22.
  • the spring 19 is in a compressed state .
  • the pressing control on the button 17 is released, and under the elastic force of the spring 19, the active part 21 moves radially inward and abuts against the fixed part 22, and the button 17 returns to the initial position.
  • the contact surface between the active part 21 and the fixed part 22 is a tooth-shaped clamping surface to provide greater clamping force for the guide wire.
  • the guide wire control module includes a guide wire supporting rod, and the guide wire supporting rod is arranged between the sun gear 15 and the fixed plate 24 .
  • the guide wire supporting rod is slidable along the axial direction of the guide wire.
  • the guide wire supporting rod comprises a support frame 25 and pulleys 9 on both sides, wherein the support frame 25 is provided with a wire groove corresponding to the wire groove on the sun gear 15 and the fixed plate 24, and in the state of use, the guide wire is embedded in the In the trunking, the pulleys 9 on both sides can move in the chutes on the corresponding two side walls respectively.
  • the chute starts from the two side walls corresponding to the middle section of the sun gear 15 and the fixed plate 24 , and ends on the two side walls corresponding to the fixed plate 24 .
  • the chute starts from the two side walls corresponding to the sun gear 15 and ends on the two side walls corresponding to the fixed plate 24, wherein a stopper is provided on the chute section corresponding to the middle section of the sun gear 15 and the fixed plate 24 The stopper is used to block the sliding of the intermediate support.
  • a magnet is arranged on the guide wire supporting rod, and correspondingly, another magnet is arranged on the wheel cover, and the two magnets are mutually attracting.
  • the guide wire supporting rod is initially located in the middle section of the sun gear 15 and the fixed plate 24 and the guide wire is placed in the wire groove.
  • Attraction is generated, and the guide wire supporting rod together with the fixed plate 10 continues to move toward the distal end; in the operation of retracting the guide wire, the guide wire supporting rod together with the fixed plate 10 is retracted to the proximal end, when it is withdrawn to the sun During the middle section position of wheel 15 and fixed plate 24, under the blocking effect of stopper or chute wall, guide wire support rod is no longer retracted and is fixed, and fixed disk 10 then can continue to retreat.
  • a pair of guide wire driving wheels 1 are arranged at a distance of 5-15 mm from the fixing plate 24 (center distance), for supporting and transporting the guide wire at the far end.
  • the joint of the wire guide wheel 1 is corresponding to the wire groove 14 on the fixing plate 24 .
  • the guide wire is placed between the guide wire drive wheels 1, and the guide wire is conveyed by the friction between the guide wire drive wheels 1.
  • the pair of guide wire drive wheels 1 is equipped with a pair of guide wire drive wheel locks 4 for controlling the distance between the guide wire drive wheels 1 and further controlling the locking condition of the guide wire drive wheels 1 .
  • the balloon/stent control module includes a transmission wheel set 7, which is used to control the advancement or retreat of the balloon catheter or the stent catheter.
  • Transmission wheel set 7 comprises two pairs of friction wheel sets, and the gear set that is connected below, and gear is connected with motor. When in use, the motor drives the gear to rotate, and the gear drives the upper friction wheel group to rotate, and the balloon catheter or stent catheter held by the friction wheel group advances or retreats accordingly.
  • the drive wheel set 7 is also equipped with a secondary drive wheel set locking switch 23, which is used to control the distance between a set of drive wheel sets 7, and then control the locking situation of the drive wheel set 7.
  • the guiding catheter control module includes a Y-shaped combination body 6, the Y-shaped combination body 6 is used for the Y-shaped combination of a guide wire (not shown) and a guiding catheter (not shown), the Y-shaped combination body 6 is movable, Movement of the Y-shaped combination 6 can deliver or withdraw the guide catheter.
  • the Y-shaped combination 6 is arranged at the distal end of the system, and it moves back and forth through the engagement of the gears (26, 28) and the rack 27. Wherein, the Y-shaped combination body 6 is fixedly connected with the rack 27, and the driving gear 26 is connected with the motor.
  • the driving gear 26 drives the interlocking gear 28 to rotate through the mutual meshing 26 between the gears, and the gears (26, 28) interact with the rack 27 again. engage.
  • the motor drives the driving gear 26 to rotate, and under the meshing action, the rack 27 advances or retreats, and then drives the Y-shaped combination 6 to advance or retreat.
  • the operator controls the movement of the guide wire control module, the balloon/stent control module and the guide catheter module remotely through signal transmission through the remote microcomputer control terminal 56 .
  • the front end of the Y-shaped valve (Y-shaped assembly 6) is connected to the guiding catheter, and the forward and backward movement of the Y-shaped valve is controlled to control the forward and backward movement of the guiding catheter; the transmission wheel set 7 clamps the balloon catheter or the stent ball
  • the balloon catheter advances or retreats; the rotating wheel set and the advancing wheel set 5 control the guide wire to rotate, advance or retreat; and the rotation, advance or retreat of all components can be completed by the operator operating the terminal controller outside the operating room.
  • the system communicates with the operating terminal through wired, wireless (WiFi, Bluetooth, etc.) or the Internet.
  • the operating terminal is a computer, including a joystick and a tablet computer.
  • the operator adjusts the distance of the guide wire advance or retreat and the rotation angle of the guide wire, adjusts the distance of the guide catheter advance or retreat, and adjusts the balloon.
  • the advance or retreat distance of the catheter or stent catheter and then operate the joystick to control the guide wire to advance, retreat or rotate, operate the joystick to control the balloon catheter or stent catheter to advance or retreat, and operate the joystick to control the guide catheter to advance, retreat or rotate.
  • wire slots 14 there are more than two wire slots 14 on the fixing plate 24 , and when 2-3 guide wires are used in the operation, the wire slots 14 are respectively embedded in the guide wires.
  • the system is made of plastic materials such as PC and nylon or metal materials such as 304 and 316 stainless steel, which are non-toxic to the human body, can also be sterilized, and are cheap and suitable for one-time use.
  • the system further includes a non-contact motor system, which is arranged on the terminal effector system 54 and used to provide driving force for forward, backward and rotation of the interventional equipment, as shown in FIGS. 17-21 .
  • a non-contact motor system which is arranged on the terminal effector system 54 and used to provide driving force for forward, backward and rotation of the interventional equipment, as shown in FIGS. 17-21 .
  • the terminal execution system 54 includes an execution housing 32 and a drive housing 33, wherein the execution housing 32 is loaded with mechanical components for driving the interventional equipment to advance, retreat and rotate, and the drive housing 33 is loaded with electric motors for powering the mechanical components.
  • Components including, but not limited to, power and controls, for example).
  • the non-contact motor system includes a motor 29 (the motor 29 is fixed in the drive housing 33), a first magnetic induction coupling 30 coupled with the motor 29 and driven by the motor 29, and a corresponding set of the first magnetic induction coupling 30.
  • the second magnetic induction coupling 31 (the second magnetic induction coupling 31 is fixed on the bottom wall of the actuator housing 32 ), and the transmission gear coupled with the second magnetic induction coupling 31 .
  • the first magnetic induction coupling 30 and the second magnetic induction coupling 31 are coaxially opposite to each other.
  • the number of non-contact motor systems is four.
  • the second magnetic induction coupling 31 can be respectively connected with the travel wheel set 5, the rotating wheel set 34, the drive wheel set 7 and the rack and pinion set for guiding the catheter through transmission gears, and then drives its operation.
  • a space layer with a thickness of 2-20 mm is formed between the actuator housing 32 and the driving housing 33 . Due to the existence of the space layer, a sterile cloth (for example, a blood-insulating sterile cloth) can be laid between the actuator housing 32 and the driving housing 33 to reduce contamination to components in the driving housing 33 .
  • a sterile cloth for example, a blood-insulating sterile cloth
  • the terminal effector system 54 includes a guide wire control module in the interventional equipment, and the guide wire control module includes a rotating assembly and a traveling assembly.
  • the advancing component is used to control the advance and retreat of the guide wire; the rotating component is used to control the rotation of the guide wire.
  • the rotating assembly includes a rotating wheel set, a rotating shaft concentrically connected with the rotating wheel set, a planetary gear sleeved on the rotating shaft and slidable relative to the rotating shaft, and a sun gear meshing with the planetary gear.
  • the sun gear is provided with wire slots, and the wire slots are opened from the valley bottom between the teeth of the sun gear to the center of the sun gear. The wire slots are used to embed the guide wire and ensure the coaxiality of the guide wire rotation.
  • the travel assembly includes a travel wheel set, a drive screw concentrically connected with the bevel gear of the travel wheel set, and a fixed plate for supporting the sun gear.
  • both the rotating wheel set and the traveling wheel set are driven by the above-mentioned non-contact motor system.
  • its rotating wheel set 34, the traveling wheel set 5, and the transmission gear meshed with both gears are bevel gear sets, as shown in Figure 19.
  • the terminal effector system 54 includes a balloon/stent control module in the interventional device.
  • the balloon/stent control module is used to control the advancement or retreat of the balloon catheter or the stent catheter.
  • the balloon/stent control module includes a transmission wheel assembly, and the transmission wheel assembly includes a friction wheel set. Below the friction wheel set, there are friction wheel set gears meshing with each other, and the friction wheel set clamps the balloon catheter or the stent catheter to advance or retreat.
  • the terminal execution system 54 also includes a guide catheter control module in the interventional equipment.
  • the guide catheter control module is used to control the advancement or retreat of the guide catheter.
  • the guide catheter control module includes a Y-shaped combination.
  • the Y-shaped combination includes an upper Y-shaped valve and a lower rack and pinion set.
  • the distal port of the Y-shaped valve is connected to the guide catheter, and the proximal port is inserted into the guide wire. Enter the guiding catheter through the Y-shaped valve, and reach the surgical site along the lumen of the guiding catheter.
  • the rack and pinion drive the Y-shaped combination to advance or retreat, thereby driving the guiding catheter to advance or retreat.
  • both the friction wheel set and the rack and pinion set are driven by a non-contact motor system, wherein the transmission wheel set 7 is a spur gear set, as shown in FIG. 21 .
  • the terminal execution system 54 is fixed on the end of the surgical robotic arm 55 and moves with the surgical robotic arm 55 , and the remote microcomputer control terminal 56 controls the movement of the surgical robotic arm 55 and the movement inside the terminal execution system 54 .
  • the terminal execution system 54 includes an execution housing 32 and a drive housing 33, wherein the execution housing 32 is loaded with mechanical components for carrying out delivery, retraction and rotation of interventional equipment, and the drive housing 33 is loaded with The electric components used to provide driving power for mechanical parts, the actuator housing 32 and the drive housing 33 are spaced apart through the magnetic induction coupling group 35, and a gap is formed between the actuator housing 32 and the drive housing 33. Space layer 53 of 2-20 mm.
  • the end effector system 54 includes a guide wire control module 45, which is used to control the advance, retreat and rotation of the guide wire.
  • the guidewire control module 45 includes a rotating assembly for controlling the rotation of the guidewire and a traveling assembly for controlling the advance or retreat of the guidewire.
  • the rotating assembly includes a rotating wheel set 34, a rotating shaft 8 concentrically connected with the rotating wheel set 34, a planetary wheel sleeved on the rotating shaft 8 and slidable relative to the rotating shaft 8, and a sun gear 15 meshing with the planetary wheel, wherein
  • the sun gear 15 is provided with a wire groove 14, and the wire groove 14 is opened to the center of the sun gear 15 by the valley bottom between the teeth of the sun gear 15 and the teeth.
  • the wire groove 14 is used to embed the guide wire and ensure the coaxiality of the guide wire rotation.
  • the rotation of the rotating wheel set 34 drives the concentrically connected rotating shaft 8 to rotate together, and the rotating shaft 8 drives the planetary wheel to rotate, and the planetary wheel drives the sun gear 15 to rotate through the meshing action, thereby driving the rotation of the guide wire.
  • the travel assembly includes a travel wheel set 5 , a drive screw 2 concentrically connected with the bevel gear of the travel wheel set 5 , and a fixed plate 10 for supporting the sun gear 15 .
  • the rotation of the bevel gear of the traveling wheel set 5 drives the transmission screw mandrel 2 to rotate
  • the fixed disk 10 is threadedly connected with the transmission screw mandrel 2, and advances or retreats with the rotation of the transmission screw mandrel 2, and the advancement of the fixed disk 10 Or retreat to drive the guide wire forward or backward.
  • At least two fixed gears are arranged on the fixed plate 10 , and the fixed gears are meshed with the sun gear 15 for fixing the sun gear 15 .
  • the rotating wheel set 34 and the traveling wheel set 5 are all connected with the motor in the drive housing 33 through the above-mentioned magnetic induction coupling set 35, so as to be driven.
  • the guide wire control module 45 also includes a locking device 36 for locking the guide wire, and the locking device 36 is fixed on the sun gear 15 .
  • the locking device 36 includes a locking control assembly, an active part, and a fixed part, wherein the fixed part is fixed on the sun gear 15 and is aligned with one side of the wire groove 14, and the active part is arranged relative to the fixed part, and is aligned with the wire groove 14
  • the other side of the locking control assembly is connected with the active part, and is used to control the positional relationship of the active part relative to the fixed part.
  • the locking control component controls the active part to stay away from the fixed part, that is, the wire slot 14 forms a passage for inserting the guide wire, and further controls the active part to abut against the fixed part to clamp the guide wire embedded in the wire slot 14 .
  • the locking device 36 can be an electric clamp structure, driven by electricity; or a pneumatic clamp structure, driven by air.
  • the locking control assembly includes a button, a linkage rod, a spring and a limit block, wherein the spring and the limit block are arranged in the inner cavity of the active component, the limit block is fixed, and the spring is located on the side of the limit block and the active component. Between the walls, one end of the linkage rod is connected with the button, and the other end is connected with the active part.
  • pressing the button drives the linkage rod to move outward, thereby driving the active part to move radially outward, and the active part is away from the fixed part.
  • the spring is in a compressed state.
  • the contact surface between the active part and the fixed part is a toothed clamping surface, so as to provide greater clamping force for the guide wire.
  • the toothed clamping surfaces are covered with a silicone coating.
  • the positioner assembly used in the vascular interventional robot in this embodiment includes a guide wire control module positioner and a surgical manipulator arm positioner.
  • the guidewire control module locator is used to locate the guidewire control module 45 of the end effector system 54 .
  • the guide wire control module locator includes a first sensing point 37 arranged at the bottom of the fixed plate 10, a first sensor 38 for sensing the first sensing point 37; it is arranged on the opposite end of the sun gear 15 to the wire groove 14
  • the second sensing point 39 is used to sense the second sensor 40 of the second sensing point 39 ; the first sensor 38 and the second sensor 40 are arranged at the bottom of the terminal execution system 54 . Both the first sensor 38 and the second sensor 40 are arranged on the driving housing 33 , and the first sensing point 37 and the second sensing point 39 are both arranged on the actuator housing 32 .
  • An inductor opening 41 is arranged on the position corresponding to the first inductor 38 and the second inductor 40 on the drive housing 33 on the execution housing 32, and the first inductor 38 and the second inductor 40 pass through the induction respectively.
  • the sensor opening 41 senses the first sensing point 37 and the second sensing point 39; or the bottom wall of the execution housing 32 is not provided with the sensing opening 41, which corresponds to the first sensing point 38 and the second sensing point 40 is transparent, or the bottom wall of the executive housing 32 is transparent as a whole.
  • Both the first sensor 38 and the second sensor 40 in this embodiment are laser sensors.
  • the remote microcomputer control terminal 56 For example, a computer, etc.
  • the remote microcomputer control terminal 56 performs radial positioning on the guide wire control module 45 .
  • the purpose of axial positioning of the interventional equipment control module 45 is to facilitate the calculation of the distance advanced by the interventional equipment and to set the target far and near position for the interventional equipment; the purpose of radial positioning of the interventional equipment control module 45 is to facilitate the calculation of the rotation distance of the interventional equipment. angle and set the target angle for the interventional device.
  • the positioner assembly also includes a positioner for the surgical manipulator, which is disposed on the drive housing 33 of the terminal execution system 54 and is used to sense whether the execution housing 32 is located on the drive housing 33 .
  • a positioner for the surgical manipulator which is disposed on the drive housing 33 of the terminal execution system 54 and is used to sense whether the execution housing 32 is located on the drive housing 33 .
  • the surgical manipulator positioner senses that the execution housing 32 is located above the drive housing 33, the surgical manipulator 55 is fixed; When removed, the surgical robotic arm 55 is free to move.
  • the positioner of the surgical manipulator is an infrared sensor.
  • a sterile cloth is arranged between the actuator housing 32 and the driving housing 33 to prevent contamination of components in the driving housing 33 during surgery.
  • the part where the sterile cloth is located on the sensor is transparent.
  • the wire control module 45 (namely, the wire moving/rotating module)
  • one end of the wire is clamped on the sun gear 15 , and the other end is rested on the shell of the wire control module 45 .
  • a guide wire supporting sliding rod 42 is placed between the sun gear 15 and the housing cylinder, as shown in Figure 26-27, the guide wire supporting sliding rod 42 is a semicircular structure, and the semicircular bottom edge protrudes Two L-shaped brackets are embedded in the slide rail grooves on both sides of the casing, so that the guide wire supporting slide bar 42 can move back and forth in the slide rail grooves.
  • the guide wire supporting slide bar 42 is provided with an embedding groove 43 from the top to near the center of the circle, and the width is 0.1-5 mm.
  • a circular through hole 44 is respectively opened on both sides of the semicircular structure of the guide wire supporting sliding rod 42.
  • the diameter of the circular through hole 44 is 0.1-3 mm, and two flexible pipes are respectively inserted from the two ends of the circular through hole 44. After passing through the round through hole 44 , they meet at the insertion groove 43 to prevent the guide wire from lifting, curling, or even detaching from the insertion groove 43 of the guide wire supporting sliding rod 42 .
  • a first magnet 50 is arranged on the guide wire supporting sliding rod 42 , and correspondingly, a second magnet 50 is arranged on the fixed disk 10 , and the first magnet 50 and the second magnet 50 attract each other.
  • the guide wire supporting sliding rod 42 In the operation of delivering the guide wire, the guide wire supporting sliding rod 42 is located in the middle section of the sun gear 15 and the housing cylinder and the guide wire is placed in the insertion groove 43. As the fixed disk 10 moves to the proximal end along the driving screw rod 2, the second The second magnet 50 and the first magnet 50 produce an attractive effect, and the guide wire supporting sliding bar 42 continues to move proximally together with the fixed plate 10; When withdrawing to the middle position of the sun gear 15 and the outer casing, under the blocking effect of the stopper or the wall of the slide rail groove, the guide wire supporting sliding rod 42 is no longer retracted and is Fixed, the fixed disc 10 can continue to retreat.
  • the Y-shaped combination body 6 further includes a guide tube support member for supporting the guide tube 71 protruding from the Y-shaped valve.
  • the guide catheter support member includes a sliding sleeve 68 , a sliding sleeve handle 69 and a sliding sleeve track 70 .
  • a sliding sleeve track 70 is provided in the Y-type valve for accommodating the sliding sleeve 68, and the sliding sleeve 68 can slide in the sliding sleeve track 70 to stretch out from the Y-type valve or withdraw to the Y-type valve.
  • a sliding sleeve handle 69 is provided at the distal end of the sliding sleeve 68 (the end away from the operator), and the operator can control the advancement of the guiding catheter 71 by dragging the sliding sleeve handle 69 .
  • Sliding sleeve handle 69 is a protrusion at the distal end of sliding sleeve 68 in one embodiment.
  • the upper part of the sliding sleeve 68 is provided with an axial slot through which the guide tube 71 can enter the sliding sleeve 68 and be accommodated therein.
  • the slide sleeve 68 is pulled out of the slide sleeve track 70 by pulling the slide sleeve handle 69 to support the extended guide tube 71; if the requirement does not exist , then the sliding sleeve 68 is pushed back in the Y-type valve.
  • the terminal execution system 54 of this embodiment is similar to that of Embodiment 1, the difference is that the terminal execution system 54 of this embodiment is also provided with a guide wire central fixer 46, and a guide wire locker 47 is used instead of the guide wire locker 47.
  • the locking device 36 is shown in Figures 28-32.
  • the guide wire central fixer 46 is arranged on the sun gear 15, and it has a configuration similar to the insertion groove 43 of the above-mentioned guide wire supporting sliding rod 42 and the pair of round through holes 44.
  • Guide wire for trunking 14 Guide wire center fixer 46 is cylindrical structure, is fixedly connected with the center of circle of sun gear 15, is grooved to the center of circle the same as sun gear 15, and is corresponding with wire groove 14, round through hole 44 is opened in the both sides of groove, uses respectively for inserting soft materials.
  • the guide wire is embedded in the sun gear 15 and the limit groove, and the soft material presses the guide wire.
  • a guidewire locker 47 is removably disposed on the side of the proximal end of the sun gear 15 for locking and fixing the guidewire.
  • the guide wire locker 47 is divided into upper and lower parts, and the upper part 48 and the lower part 49 are attracted by the magnet 50 to cover (it should be noted that the upper part 48 and the lower part 49 can also be covered in other ways, Including but not limited to snap fit, fit, bond, friction fix, etc.).
  • Both the bottom surface of the upper part 48 and the top surface of the lower part 26 are provided with semicircular grooves. When the upper part 48 and the lower part 49 are covered, the two semicircular grooves are combined into a guide wire hole 51, and the tail end is also provided with a semicircular groove.
  • a guide wire locking knob 52 is provided.
  • guide wire locker 47 When operating guide wire locker 47, take off the loam cake of guide wire locker 47, pass guide wire in guide wire locking knob 52, and guide wire is inserted in guide wire hole 51, upper and lower part 49 Cover, tighten the guide wire locking knob 52, and fix the guide wire locker 47 on the sun gear 15, so that the guide wire can rotate with the sun gear 15 rotation.
  • the guide wire locker 47 is a stud and nut structure, wherein the guide wire is clamped between the lower edge of the stud and the upper edge of the nut, the stud and the nut are tightened, and the guide wire Clamp. Wherein one of stud and nut is fixed on the sun gear 15.
  • the guide wire locker 47 is a clip structure, wherein the clip is installed on the sun gear 15, the guide wire is put into the guide wire after the clip is loosened, and the guide wire can be clamped by tightening the clip.
  • the terminal execution system 54 of this embodiment is similar to Embodiment 1, the difference is that the rack and pinion set used to guide the catheter in this embodiment is realized by a single gear 57, and is positioned by a magnetic component set, such as Figure 33-36 shows.
  • the robot is used for interventional treatment, including a remote microcomputer control terminal, a surgical positioning robot arm and a terminal execution system. Positioning the motion of the robotic arm and the motion inside the end execution system.
  • the terminal execution system includes a guiding catheter control module in the interventional equipment.
  • the guiding catheter control module is used to control the advancement or retreat of the guiding catheter.
  • the guiding catheter control module includes a Y-shaped combination, and the Y-shaped combination includes the upper Y-shaped Valve 63 and rack and pinion set below.
  • the distal port of the Y-shaped valve 63 is connected to the guide catheter, and the proximal port is inserted with a guide wire.
  • the guide wire enters the guide catheter through the Y-shaped valve 63 and reaches the operation site along the lumen of the guide catheter.
  • the rack and pinion set includes a rack frame, a single gear 57 , a moving magnetic piece 61 mounted on the rack frame, and a fixed magnetic piece 62 interacting with the moving magnetic piece 61 .
  • the Y-type valve 63 is fixed on the rack frame and moves with the movement of the rack frame.
  • Single gear 57 is meshedly connected with the spur rack on the rack frame.
  • the fixed magnetic member 62 is fixed in the execution housing of the terminal execution system.
  • the rack frame includes a first toothed side 58 , a second straight side 59 and a third connecting side 60 .
  • the first toothed side 58 is provided with a straight toothed rack meshed with the single gear 57, and the second straight side 59 and the first toothed side 58 are parallel and oppositely arranged.
  • the third connecting edge 60 connects the first tooth edge 58 and the second straight edge 59 to form a semi-enclosed structure, and the single gear 57 is located in the semi-enclosed structure.
  • One end of the single gear 57 meshes with the spur rack of the first tooth side 58 , and the other end of the single gear 57 abuts against the second straight side 59 .
  • the moving magnetic part 61 is fixed on the third connecting side 60 .
  • the rack frame interacts with the fixed magnetic part 62 fixed on the casing of the terminal execution system through the moving magnetic part 61 to prevent the rack frame from sliding freely.
  • the driving device drives the single gear 57 to rotate. Due to the meshing relationship between the single gear 57 and the rack frame, the rack frame overcomes the force of the fixed magnetic part 62 and moves forward, thereby driving the Y-shaped valve 63 to move forward. , to avoid the loss of accuracy caused by unnecessary relative displacement between the components.
  • the drive unit is a non-contact motor system.
  • the non-contact motor system includes a motor, a first magnetic induction coupling coupled with the motor and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling, and a second magnetic induction coupling coupled with the second magnetic induction coupling
  • the transmission gear set wherein, the first magnetic induction coupling and the second magnetic induction coupling are opposite to each other; the distance between the first magnetic induction coupling and the second magnetic induction coupling is 2-20 mm.
  • the terminal execution system 54 of this embodiment is similar to Embodiment 1, the difference is that the second magnetic induction coupling 31 in this embodiment is directly connected to the fixed disk 10, the driving screw 2 and the drive screw 2 that drives the rotation
  • the motor 29 is moved to the side of the terminal execution system 54, the motor shaft of the motor 29 is directly connected with the 2 shafts of the drive screw rod, the motor 29 drives the drive screw rod 2 to rotate, and an additional set is set on the drive screw rod 2 and connected with the drive screw rod 2.
  • the intermediate connecting piece 72 that is threadedly connected. With the rotation of the transmission screw 2, the intermediate connecting piece 72 can move forward and backward.
  • the first magnetic induction coupling 30 is fixedly connected with the intermediate connecting piece 72, and the second magnetic induction coupling 31 is also Towards the side and the first magnetic induction coupling 30 coupled with the intermediate connecting piece 72 located on the side is used in cooperation under the action of magnetic force, thus forming a new traveling mechanism of the wheel set 3.
  • the wheel set 3 can Forward and backward, as shown in Figure 37.
  • the terminal execution system 54 of this embodiment is similar to Embodiment 4, the difference is that the drive screw 2 in this embodiment and the motor 29 that drives the drive screw 2 to rotate are moved to the drive housing Inside the body 33 , the first magnetic induction coupling 30 and the second magnetic induction coupling 31 form an upper and lower matching relationship.
  • the motor 29 that drives the planetary wheel 16 to rotate is also moved into the drive housing 33, and the rotating shaft 8 is eliminated, and instead the motor 29 that drives the planetary wheel 16 to rotate (for example, through the tray 64 in FIG. 38 ) is attached.
  • the planetary gear 16 is fixed in the fixed disk 10 through the optical axis 65, and the planetary gear 16 can rotate relative to the optical axis 65, and one of the planetary gears 16 (for example, the one at the lower right corner in Fig. 38 Planetary gear) meshes with the second magnetic induction coupling 31 through the worm 66, transmission gear (set) and the like.
  • a support rail 67 is provided below the motor 29 driving the planetary wheel 16 to rotate, for supporting the motor 29 driving the planetary wheel 16 to rotate and providing guidance for its travel.
  • the supporting guide rail 67 includes a guide rail arranged on the drive housing 33 and a roller attached to the bottom of the motor 29 that drives the planetary wheel 16 to rotate, wherein the roller can slide in the guide rail to play a supporting and guiding role .
  • the support guide rail 67 is a guide bar with a smooth surface arranged on the drive housing 33, the upper surface of the guide bar is in sliding contact with the lower surface of the motor 29 that drives the planetary wheel 16 to rotate (or the magnetic levitation support guide etc.) to provide support and guidance.
  • the above-mentioned implementation of the support rail 67 is not meant to be limited, and it can have other various implementations, as long as it can provide guidance and support for the motor 29 that drives the planetary wheel 16 to rotate.

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Abstract

本发明公开了一种手术机器人系统，包括终端执行系统，终端执行系统包括导丝控制模块、球囊/支架控制模块和导引导管控制模块。导丝控制模块包括转动组件，其包括转动轮组、与转动轮组同心连接的转动轴，套设在转动轴上且相对于转动轴可滑动的行星轮，和与行星轮啮合的太阳轮，其中太阳轮上设有用于嵌入导丝的线槽；行进组件，其包括行进轮组、与行进轮组的锥齿轮同心连接的传动丝杆，和用于支撑太阳轮的固定盘。本发明用于手术中远程控制导丝的旋转、前进及后退，也可以同时控制球囊导管或支架导管，以及导引导管的前进或后退，将多种介入手术耗材组合在一个系统中，兼容各个生产厂家的介入手术耗材，操作简单，精确度高。

Description

手术机器人系统 技术领域
本发明涉及医疗器械领域，更具体地涉及一种手术机器人系统。
背景技术
介入手术是以影像学为基础，在X射线、超声或CT等设备的引导下，利用导丝、导管或支架，以及其他的医疗器械对疾病进行诊断和治疗，是一种较先进的微创技术。将导管或导引装置手动插入患者体内是相对常规的外科手术。目前正在尝试将这种插入实现机器人化。这类机器人化都很复杂，因为要抓住导管是很困难的，而且导管呈光滑状且在手术过程中必须保持无菌状态，这些因素都提高了其机器人化的难度。尽管存在着这些困难，但这种机器人系统的可靠性，精确性仍是其被医疗界所接受的决定因素。
因此，本领域尚缺乏一种操作更简洁、可靠性更高的手术机器人系统。
发明内容
本发明基于此领域的市场需求，开发出一种手术机器人系统，可以通过远程微机操控端，远程操控导丝控制模块、导管/球囊/支架控制模块和导引导管控制模块的旋转、前进及后退；通过非接触式电机系统在终端执行系统的执行壳体和驱动壳体之间形成空间间隙，以放置无菌布等物品，减少污染，而不影响血管介入机器人的正常运行；通过用于导引导管的齿轮齿条组，使得能够在手术前有效定位导引导管控制模块，且在手术过程中又不妨碍所述模块各部件之间相对运动，避免各部件之间的不需要的相对位移而导致的精度损失；通过定位器组件能够有效定位导丝控制模块中的太阳轮的轴向位置和径向位置，以及控制手术机械臂的动静状态，确保了机器人的安全性和调控导丝的精度；将驱动部件例如电机、传动杆等移至驱动壳体内，减少对执行壳体内空间的占用，使得在驱动壳体内更多导丝操纵空间，且便于清洗驱动壳体。本发明中的机械制动主要通过齿轮之间的啮合与传动杆的传动效应所实现。本发明操作方便，且调控精确。
本发明提供了一种手术机器人系统，该系统包括远程微机操控端、手术机械臂 和终端执行系统。其中，终端执行系统包括导丝控制模块，用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：转动组件，用于控制所述导丝的旋转，所述转动组件包括转动轮组、与所述转动轮组同心连接的转动轴，套设在所述转动轴上且相对于所述转动轴可滑动的行星轮，和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽由所述太阳轮的齿与齿之间的谷底开至所述太阳轮圆心，所述线槽用于嵌入所述导丝并保证所述导丝转动的同轴性；和行进组件，用于控制所述导丝的前进或后退，所述行进组件包括行进轮组、与所述行进轮组的锥齿轮同心连接的传动丝杆，和用于支撑所述太阳轮的固定盘；球囊/支架控制模块，用于控制球囊导管或支架导管的前进或后退，所述球囊/支架控制模块包括传动轮组件，所述传动轮组件包括摩擦轮组，所述摩擦轮组下方有摩擦轮组齿轮互相啮合连接，所述摩擦轮组夹持所述球囊导管或所述支架导管前进或后退；以及导引导管控制模块，用于控制导引导管的前进或后退，所述导引导管控制模块包括Y型组合体，所述Y型组合体包括上方的Y型阀和下方的齿轮齿条组，所述Y型阀远端端口连接所述导引导管，近端端口穿入所述导丝，所述导丝通过所述Y型阀进入所述导引导管，并沿着所述导引导管内腔到达手术部位，所述齿轮齿条组带动所述Y型组合体前进或后退，从而带动所述导引导管的前进或后退；其中，所述转动轮组、所述行进轮组、所述摩擦轮组和所述Y型组合体均通过电机驱动，并与远程微机连接。
在另一优选例中，所述导丝控制模块中的所述转动轮组的转动带动同心连接的所述转动轴一同转动，所述转动轴又带动所述行星轮转动，所述行星轮通过啮合作用带动所述太阳轮转动，从而带动导丝的转动。
所述行进轮组的锥齿轮的转动带动所述传动丝杆转动，所述固定盘与所述传动丝杆螺纹啮合连接，并随着所述传动丝杆的转动而前进或后退，所述固定盘的前进或后退，带动导丝的前进或后退。
在另一优选例中，所述球囊/支架控制模块中传动轮组件的摩擦轮组齿轮转动，带动上方摩擦轮转动，所述摩擦轮的转动，带动所述摩擦轮夹持着的球囊导管或支架导管的前进或后退。
在另一优选例中，所述导引导管模块中Y型组合体的齿轮齿条组中的齿轮带动与之啮合的齿条移动，使所述Y型阀和连接的所述导引导管前进或后退。
在另一优选例中，在整个系统的纵向方向上，从近端到远端设有多个可以自上而下直接放置导丝的线槽，包括外盒、轮盘组、滑轮和固定板，便于手术前放置导 丝和手术中取出及交换导丝，也便于导丝和球囊导管或支架导管的配合使用。
在另一优选例中，在所述固定盘上设有至少两个固定齿轮，所述固定齿轮与所述太阳轮齿轮啮合连接，用于固定所述太阳轮。
在另一优选例中，所述导丝控制模块包括用于锁紧所述导丝的锁紧装置，所述锁紧装置固定在所述太阳轮上。
在另一优选例中，所述锁紧装置包括锁紧控制组件、主动部件、和固定部件，其中，所述固定部件固定在所述太阳轮上且与所述线槽的一侧对齐，所述主动部件相对于所述固定部件设置，且与所述线槽的另一侧对齐，所述锁紧控制组件与所述主动部件连接，用于控制所述主动部件相对于所述固定部件的位置关系。
在另一优选例中，所述锁紧控制组件包括按键、连动杆、弹簧和限位块，其中，所述弹簧和所述限位块设置在所述主动部件的内腔中，所述限位块固定不动，所述弹簧位于所述限位块和所述主动部件的侧壁之间，所述连动杆的一端与所述按键连接，另一端与所述主动部件的连接。
在另一优选例中，所述导丝控制模块包括导丝承托杆，所述导丝承托杆设置在轮盘组和所述固定板之间。
在另一优选例中，术者通过远程微机操控端，利用信号传输远程控制所述导丝控制模块、球囊/支架控制模块和导引导管控制模块的运动。
本发明还提供了一种手术机器人系统，该系统用于手术中操控导丝、球囊或支架，可以控制导丝的前进、后退及旋转，同时也可以控制球囊导管或支架导管，以及导引导管的前进或后退，所述系统包括远程微机操控端、手术机械臂和终端执行系统。其中，终端执行系统包括导丝控制模块，用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：转动组件，所述转动组件用于控制所述导丝的旋转，所述转动组件包括转动锥齿轮、与所述转动锥齿轮同心连接的转动轴，套设在所述转动轴上且相对于所述转动轴可滑动的行星轮，和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽用于嵌入所述导丝；输送组件，所述输送组件用于控制所述导丝的前进和后退，所述输送组件包括动力轮组、与所述动力轮组的齿轮同心连接的传动丝杆，和用于支撑所述太阳轮的固定盘；其中，所述转动锥齿轮和所述动力轮组均通过电动机驱动，所述转动锥齿轮的转动带动同心连接的所述转动轴一同转动，所述转动轴又带动所述行星轮转动，所述行星轮通过啮合作用带动所 述太阳轮转动；所述动力轮组的所述齿轮的转动带动所述传动丝杆转动，所述固定盘与所述传动丝杆螺纹啮合连接，并随着所述传动丝杆的转动而前进或后退。
在另一优选例中，所述转动轴为六边形轴。
在另一优选例中，所述转动轴为多边形轴。
在另一优选例中，所述转动轴为半圆形轴或凸字形/凹字形轴。
在另一优选例中，所述太阳轮和所述行星轮均设置在所述固定盘的内腔中，且随所述固定盘的前后运动而运动。
在另一优选例中，所述传动丝杆的近端与所述行进轮组的锥齿轮连接固定，所述转动轴的近端与所述转动轮组连接固定，所述传动丝杆的远端和所述转动轴的远端均通过轴承固定在远端的固定板上。
在另一优选例中，在所述固定板上设置有与所述太阳轮上的线槽类似的线槽，以允许所述导丝的嵌入。
在另一优选例中，所述转动轮组和所述行进轮组的初始位置均位于所述系统的近端。
在另一优选例中，所述转动轮组和所述行进轮组均位于同一截面上。
在另一实施例中，所述传动丝杆的长度为100-400mm；优选地，150-250mm。
在另一实施例中，所述转动轴的长度为100-400mm；优选地，150-250mm。
在另一实施例中，所述行进轮组包括至少一对锥齿轮；优选地，所述行进轮组由两对锥齿轮组构成。
在另一实施例中，由两对以上锥齿轮组构成的行进轮组中包括用于连接所述锥齿轮的连动皮带，通过所述连动皮带实现所述行进轮组的所述锥齿轮之间的连动。
在另一实施例中，所述线槽开口设在所述太阳轮的齿与齿之间的谷底部，不会影响所述太阳轮和其它齿轮间的啮合。
在另一实施例中，所述线槽由太阳轮的齿与齿之间谷底部开至太阳轮的圆心。
在另一优选例中，所述太阳轮上的线槽沿半径从外向内的方向是渐缩的，以便用于嵌入不同直径的导丝。
在另一优选例中，在所述固定盘上设有至少两个固定齿轮，所述固定齿轮与所述太阳轮齿轮啮合连接，用于固定所述太阳轮。固定齿轮可以是两个，也可以是多个。
在另一优选例中，所述固定盘为中空盘，所述太阳轮、所述行星轮和所述固定 轮置于所述固定盘的中空内腔中，所述固定盘还设有径向开口，用于所述导丝的嵌入。
在另一优选例中，所述太阳轮和所述固定盘同心对齐。
在另一优选例中，所述系统包括用于锁紧所述导丝的锁紧装置，所述锁紧装置固定在所述太阳轮上。
在另一优选例中，所述锁紧装置包括锁紧控制组件、主动部件、和固定部件，其中，所述固定部件固定在所述太阳轮上且与所述线槽的一侧对齐，所述主动部件相对于所述固定部件设置，且与所述线槽的另一侧对齐，所述锁紧控制组件与所述主动部件连接，用于控制所述主动部件相对于所述固定部件的位置关系。
在另一优选例中，所述锁紧控制组件控制所述主动部件远离所述固定部件，即所述线槽形成通路，可嵌入所述导丝。
在另一优选例中，所述锁紧控制组件控制所述主动部件抵靠所述固定部件，将嵌入所述线槽中的所述导丝夹紧。
在另一优选例中，所述锁紧装置可以是电动夹结构，通过电动驱动。
在另一优选例中，所述锁紧装置可以是气动夹结构，通过气动驱动。
在另一优选例中，所述锁紧控制组件包括按键、连动杆、弹簧和限位块，其中，所述弹簧和所述限位块设置在所述主动部件的内腔中，所述限位块固定不动，所述弹簧位于所述限位块和所述主动部件的侧壁之间，所述连动杆的一端与所述按键连接，另一端与所述主动部件的连接。
在所述锁紧装置处于松开状态下，通过按压所述按键，带动所述连动杆外移，从而带动所述主动部件径向向外移动，所述主动部件远离所述固定部件，此时，所述弹簧处于压缩状态。在所述锁紧装置处于锁紧状态下，解除对所述按键的按压控制，在所述弹簧的弹力作用下，所述主动部件径向向内移动并抵靠所述固定部件，所述按键回复到初始位置。
在另一优选例中，所述主动部件和所述固定部件之间的接触面为齿状夹面，以对所述导丝提供更大的夹持力。
在另一优选例中，所述系统包括导丝承托杆，所述导丝承托杆设置在所述太阳轮和固定板之间。
在另一优选例中，所述导丝承托杆在沿所述导丝轴向方向是可滑动的。
在另一优选例中，所述导丝承托杆包括支撑架和两侧滑轮，其中在所述支撑架 上设有与所述太阳轮和所述固定板上的线槽相对应的线槽，在使用状态下，所述导丝嵌于所述线槽中，两侧的滑轮可分别在与之对应的两侧壁面上的滑槽中移动。
在另一优选例中，所述滑槽起始于与所述太阳轮和所述固定板的中段对应的两侧壁面，终止于与所述固定板对应的两侧壁面。
在另一优选例中，所述滑槽起始于与所述太阳轮对应的两侧壁面，终止于与所述固定板对应的两侧壁面，其中，在与所述太阳轮和所述固定板的中段对应的滑槽段上设有止挡件，所述止挡件用于阻挡所述导丝承托杆向太阳轮方向继续滑动。
在另一优选例中，所述导丝承托杆上设有第一磁铁，与之对应的，所述固定盘上设有第二磁铁，所述第一磁铁和所述第二磁铁相互吸引。
在输送导丝的操作中，所述导丝承托杆初始位于所述太阳轮和所述固定板的中段且所述导丝置于所述凹槽中，随着所述固定盘沿所述传动丝杆向远端移动，所述第二磁铁和所述第一磁铁产生吸引作用，所述导丝承托杆连同所述固定盘一起继续向远端移动；在回撤导丝的操作中，所述导丝承托杆连同所述固定盘一起向近端回撤，当回撤到所述太阳轮和所述固定板的中段位置时，在所述止挡件或者所述滑槽壁的阻挡作用下，所述导丝承托杆不再回撤而被固定，所述固定盘则可继续回撤。
在另一优选例中，所有线槽形成一条从近端至Y型阀圆心的通路。
在另一优选例中，所述系统包括至少一对导丝传动轮，所述导丝传动轮用于在远端支撑并输送所述导丝。
在另一优选例中，所述导丝传动轮设置在所述固定板的远端侧，并距离所述固定板(中心距)5-15mm。
在另一优选例中，所述导丝传动轮的接合处与所述固定板上的线槽是相对应的。
在另一优选例中，所述导丝置于至少一对所述导丝传动轮之间，通过至少一对所述导丝传动轮之间的摩擦输送所述导丝。
在另一优选例中，至少一对所述导丝传动轮配有至少一副锁紧开关，所述锁紧开关用于控制一对所述导丝传动轮之间的距离，进而控制至少一副所述导丝传动轮的锁紧情况。
在另一优选例中，所述系统包括至少一组传动轮组，所述传动轮组用于支撑并输送所述球囊导管或支架导管。
在另一优选例中，所述球囊导管或支架置于至少一组传动轮之间，通过至少一组传动轮之间的摩擦输送所述球囊导管或支架导管。
在另一优选例中，至少一组传动轮配有至少一副锁紧开关，所述锁紧开关用于控制一组传动轮之间的距离，进而控制至少一组传动轮的锁紧情况。
在另一优选例中，所述系统包括Y型组合体，所述Y型组合体用于所述导丝和导引导管的Y型快速组合，所述Y型组合体是可移动的，通过所述Y型组合体的移动控制所述导引导管的前后移动。
需要说明的是，所述Y型组合体的移动可以输送或回撤所述导引导管。
在另一实施例中，所述Y型组合体设置在所述系统的远端，距离所述固定板(中心距)10-200mm；优选的，80-120mm。
在另一优选例中，所述Y型组合体通过齿轮和齿条的啮合而进行前后运动。
在另一实施例中，所述Y型组合体与所述齿条固定连接，所述齿轮与电机连接，所述齿轮和所述齿条相互啮合。
使用时，所述电机驱动所述齿轮转动，在啮合作用下，所述齿条前进或后退，进而带动所述Y型组合体前进或后退。
在另一实施例中，所述齿轮的数量为两个，分别是主动齿轮和从动齿轮，所述主动齿轮和所述从动齿轮相互啮合，且对应的设置两个所述齿条，所述主动齿轮和所述从动齿轮与两个所述齿条分别啮合。
在另一实施例中，所述齿轮的数量为一个，齿条的数量为一个，齿轮与齿条啮合。
在另一实施例中，所述Y型组合体是可开闭的，在打开状态下，可实施所述导丝和所述球囊导管或支架导管的快速交换。
在另一实施例中，所述Y型组合体是可翻折的，所述Y型组合体的翻折角度为0-60度。
在另一实施例中，所述Y型组合体可以控制导引导管的旋转。
在另一优选例中，术者通过远程微机操控端，利用信号传输远程控制所述导引导丝控制模块、球囊/支架控制模块和导引导管模块的运动。
需要说明的是，Y型阀(Y型组合体)的前端连接导引导管，通过控制Y型阀的前后移动控制导引导管的前后移动；传动轮组夹持球囊导管或者支架导管前进或后退；转动轮组、行进轮组控制夹持导丝的轮盘组转动、前进或后退；而所有部件的旋转、前进或后退，都可以通过术者在手术室外操控终端控制器完成。
在另一实施例中，所述系统与所述终端控制器通过有线、无线(WiFi，蓝牙等) 或互联网进行通讯。
在另一实施例中，所述操作终端为计算机。
在另一实施例中，所述操作终端包括平板电脑和操纵杆，术者通过调整显示在所述平板电脑上的参数，调整所述导丝前进或后退距离和所述导丝旋转角度，调整所述导引导管前进或后退距离和所述导引导管旋转角度，以及调整所述球囊导管或所述支架导管的前进或后退距离，然后操作所述操纵杆控制所述导丝旋转、前进或后退，操作所述操纵杆控制所述球囊导管或所述支架导管前进或后退，操作所述操纵杆控制所述导引导管旋转、前进或后退。
在另一实施例中，所述系统置于所述外盒中，所述外盒的长为400-800mm，宽为150-300mm，高为50-200mm。
在另一实施例中，所述太阳轮的直径为20-80mm。
在另一实施例中，所述行星轮和至少两个所述固定齿轮的规格相同，其直径均为15-30mm。
在另一实施例中，所述行星轮的规格不同于和至少两个所述固定齿轮的规格。
在另一实施例中，所述行进轮组的齿轮的直径为15-30mm。
在另一实施例中，所述导丝传动轮的直径为5-20mm。
在另一实施例中，所述套筒的直径为80-200mm，长度为250-600mm。
在另一实施例中，所述Y型组合体的长为50-120mm，宽为30-60mm，高为10-40mm。
在另一实施例中，所述Y型组合体主动齿轮和连动齿轮的直径均为5-20mm。
在另一实施例中，所述转动组件、所述输送组件及其配件构成的整体部件，即导丝控制模块的数量可叠加，以输送多个不同的导丝，实现手术中的导丝交换。在另一实施例中，所述固定板上有两个以上的线槽，手术中使用2-3个所述导丝时，线槽分别嵌入所述导丝。
在另一实施例中，系统的材质采用PC、尼龙等塑料材料或304、316不锈钢等金属材料，对人体无毒害，还可以消毒灭菌，且价格低廉，适合一次性使用。
在另一实施例中，所述系统包括非接触式电机系统，所述非接触式电机系统设置在所述终端执行系统上，用于为所述介入器材的前进、后退和旋转提供传动力；所述非接触式电机系统包括电机、与所述电机联接且由所述电机驱动的第一磁感应联轴器、与所述第一磁感应联轴器相对应设置的第二磁感应联轴器、和与所述第二 磁感应联轴器联接的传动结构；其中，所述第一磁感应联轴器和所述第二磁感应联轴器同轴心相对；所述第一磁感应联轴器和所述第二磁感应联轴器之间的距离为0-20毫米；优选地，2-20毫米。
在另一优选例中，所述非接触式电机系统的数量为2-10个。
在另一优选例中，所述终端执行系统包括执行壳体和驱动壳体，其中所述执行壳体装载用于驱动所述介入器材的前进、后退和旋转的机械部件，所述驱动壳体装载用于为所述机械部件提供动力的电动组件。
在另一优选例中，所述电机固定在所述驱动壳体中，所述第二磁感应联轴器固定在所述执行壳体的底面壁上。
在另一优选例中，在该对磁感应联轴器的支撑下，在所述执行壳体和所述驱动壳体之间形成厚度为2-20毫米的空间层。
在另一优选例中，所述第一磁感应联轴器通过顶丝或者销钉固定在所述电机的电机轴上。
在另一优选例中，所述传动结构为齿轮组结构或者蜗杆结构。
在另一优选例中，所述终端执行系统包括所述介入器材中的导丝控制模块，所述导丝控制模块包括通过转动轮组控制所述导丝的旋转的转动组件和通过行进轮组控制所述导丝前进或后退的行进组件；其中，所述转动轮组和所述行进轮组均通过所述非接触式电机系统驱动。
在另一优选例中，所述终端执行系统包括所述介入器材中的通过摩擦轮组控制球囊导管或支架导管的前进或后退的球囊/支架控制模块，和所述介入器材中的通过齿轮齿条组控制导引导管的前进或后退的导引导管控制模块；其中，所述摩擦轮组和所述齿轮齿条组均通过所述非接触式电机系统驱动。
在另一优选例中，所述齿轮齿条组包括齿条框，所述Y型阀固定在所述齿条框上；齿轮，所述齿轮与所述齿条框上的直齿条啮合连接；安装在所述齿条框上的运动磁性件；和与所述运动磁性件相作用的固定磁性件；其中，所述固定磁性件固定在所述终端执行系统的壳体上。
在另一优选例中，所述齿条框包括第一齿边，第二直边和第三连接边。
在另一优选例中，所述第一齿边上设有与所述齿轮相啮合的直齿条，所述第二直边和所述第一齿边平行相对设置。
在另一优选例中，所述第三连接边将所述第一齿边和所述第二直边连接成一体 形成半包围结构，所述齿轮位于所述半包围结构中。
在另一优选例中，所述齿轮的一端与所述第一齿边的直齿条相啮合，所述齿轮的另一端与所述第二直边相抵。
在另一优选例中，所述运动磁性件固定在所述第三连接边上。
在另一优选例中，所述运动磁性件固定在所述第一边或第二边上。
在另一优选例中，在手术前，所述齿条框通过所述运动磁性件与固定在所述终端执行系统的壳体上的所述固定磁性件相作用，防止所述齿条框随意滑动。
在另一优选例中，在手术过程中，驱动装置驱动所述齿轮转动，由于所述齿轮和所述齿条框的啮合关系，所述齿条框克服所述固定磁性件的作用而向前移动，从而带动所述Y型阀向前移动。
在另一优选例中，所述系统包括定位器组件，所述定位器组件包括导丝控制模块定位器，所述导丝控制模块定位器用于终端执行系统的导丝控制模块的定位；所述导丝控制模块用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：转动组件，用于控制所述导丝的旋转，所述转动组件包括转动轮组、与所述转动轮组同心连接的转动轴，套设在所述转动轴上且相对于所述转动轴可滑动的行星轮，和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽由所述太阳轮的齿与齿之间的谷底开至所述太阳轮圆心，所述线槽用于嵌入所述导丝并保证所述导丝转动的同轴性；和行进组件，用于控制所述导丝的前进或后退，所述行进组件包括行进轮组、与所述行进轮组的锥齿轮同心连接的传动丝杆，和用于支撑所述太阳轮的固定盘；所述导丝控制模块定位器包括设置在所述固定盘底部的第一感应点，用于感应所述第一感应点的第一感应器；设置在所述太阳轮上的与所述线槽相对的一端上的第二感应点，用于感应所述第二感应点的第二感应器；所述第一感应器和所述第二感应器设置在所述终端执行系统的底部；其中，所述第一感应器通过感测到所述第一感应点而确定所述固定盘的位置，在确定所述固定盘的位置的情况下，所述第二感应器通过感测到所述第二感应点而确定所述太阳轮的角度位置。
在另一优选例中，所述第一感应器和所述第二感应器均为激光感应器。
在另一优选例中，所述第一感应器和所述第二感应器均为红外感应器。
在另一优选例中，所述第一感应器和所述第二感应器均为电磁感应器。
在另一优选例中，所述感应器可以有二对或二对以上。
在操作时，移动所述固定盘，当所述第一感应器感测到所述固定盘底部的所述第一感应点(所述第一感应点在所述第一感应器的正上方)时，停止移动所述固定盘，此时，所述固定盘处于所述设置位置，即对所述导丝控制模块进行轴向定位，然后，转动所述太阳轮，凸出的固定在所述太阳轮上的所述锁紧装置随之转动，当所述第二感应器感测到位于所述锁紧装置的与所述线槽相对的一端上的所述第二感应点(所述第二感应点在所述第二感应器的正上方)时，停止转动所述太阳轮，即对所述导丝控制模块进行径向定位。
在另一优选例中，所述第一感应器和所述第二感应器均设置在所述驱动壳体上。
在另一优选例中，在所述执行壳体上，与所述驱动壳体上的所述第一感应器和所述第二感应器对应的位置上设有感应器开口，所述第一感应器和所述第二感应器分别通过所述感应器开口感测所述第一感应点和所述第二感应点。
在另一优选例中，所述执行壳体的底面壁为透明的。
在另一优选例中，在所述执行壳体和所述驱动壳体之间的空气层布置有隔菌布，用于阻隔手术时对所述驱动壳体中部件的污染。
在另一优选例中，所述隔菌布在两个感应器的部位为透明的。
在另一优选例中，所述定位器组件还包括手术机械臂定位器，所述手术机械臂定位器设置在所述终端执行系统的所述驱动壳体上，用于感测所述执行壳体是否位于所述驱动壳体之上。
在另一优选例中，在所述手术机械臂定位器感测到所述执行壳体位于所述驱动壳体之上时，手术机械臂固定不动；在所述手术机械臂定位器感测到所述执行壳体从所述驱动壳体之上移除时，所述手术机械臂可以自由移动。
在另一优选例中，所述手术机械臂定位器为红外感应器。
在另一优选例中，所述手术机械臂定位器为激光感应器。
在另一优选例中，所述手术机械臂定位器为电磁感应器。
在另一优选例中，所述机器人用于介入手术、骨科手术、外科手术及妇科手术，包括远程微机操控端、手术机械臂和终端执行系统，其中，所述终端执行系统固定在所述手术机械臂的末端上，且随所述手术机械臂移动，所述远程微机操控端控制所述手术机械臂的运动和所述终端执行系统内部的运动。
在另一优选例中，在所述导丝控制模块(即导丝移动/旋转模块)中，所述导丝一端被夹持在所述太阳轮上，另一端搁放在所述导丝控制模块的外壳筒上。此时，在所述太阳轮和所述外壳筒之间放置一个导丝承托滑动杆，所述导丝承托滑动杆是半圆形结构，半圆形底边伸出两根L形状支架，嵌入所述外壳筒两边的滑轨槽中，使所述导丝承托滑动杆可以在所述滑轨槽中前后移动。所述导丝承托滑动杆从顶部到近圆心处开有嵌入槽，宽度为0.1-5毫米，所述嵌入槽底部的高度与所述太阳轮的圆心和所述导丝控制模块的外壳筒上导丝搁放点的高度在同一水平线上。在所述导丝承托滑动杆半圆形结构的侧面分别开一个圆通孔，所述圆通孔直径0.1-3毫米，分别从所述圆通孔两端插入两根软性管材，所述软性管材在穿过所述圆通孔后在所述导丝嵌入槽处相抵。
在另一优选例中，所述导丝承托滑动杆上设有第一磁铁，与之对应的，所述固定盘上设有第二磁铁，所述第一磁铁和所述第二磁铁相互吸引。
在输送导丝的操作中，所述导丝承托滑动杆位于所述太阳轮和所述外壳筒的中段且所述导丝置于所述嵌入槽中，随着所述固定盘沿所述传动丝杆向近端移动，所述第二磁铁和所述第一磁铁产生吸引作用，所述导丝承托滑动杆连同所述固定盘一起继续向近端移动；在回撤导丝的操作中，所述导丝承托滑动杆同所述固定盘一起向远端回撤，当回撤到所述太阳轮和所述外壳筒的中段位置时，在止挡件或者滑轨槽的壁的阻挡作用下，所述导丝承托滑动杆不再回撤而被固定，所述固定盘则可继续回撤。
在另一优选例中，导丝承托滑动杆可以为2个及以上。
在另一优选例中，非接触式电机系统设置在所述终端执行系统上，用于为所述导丝的输送、回撤和旋转提供驱动力；所述非接触式电机系统包括电机、与所述电机联接且由所述电机驱动的第一磁感应联轴器、与所述第一磁感应联轴器相对应设置的第二磁感应联轴器、和与所述第二磁感应联轴器联接的传动齿轮组；其中，所述第一磁感应联轴器和所述第二磁感应联轴器同轴心相对；所述第一磁感应联轴器和所述第二磁感应联轴器之间的间隙为2-20毫米。
在另一优选例中，所述电机固定在所述驱动壳体中，所述第二磁感应联轴器固定在所述执行壳体的底面壁上。
在另一优选例中，所述无菌布为隔血无菌布，所述无菌布的与所述感应器相对应的位置为透明的。
在另一优选例中，所述传动齿轮组为锥齿轮组或者平齿轮组。
在另一优选例中，所述转动轮组和所述行进轮组均通过所述非接触式电机系统驱动。
在另一优选例中，在所述太阳轮上设置有导丝中心固定器，其具有类似上述导丝承托滑动杆的嵌入槽和圆通孔对的配置，其与所述线槽相对应设置，以用于固定通过所述线槽的导丝。
在另一优选例中，所述导丝中心固定器为圆柱形结构，与所述太阳轮同圆心固定连接，与所述太阳轮一样开槽到圆心，且与所述线槽相对应，在槽的两侧开圆通孔，分别用于插入软性材料。
在另一优选例中，将所述导丝嵌入所述太阳轮及限位槽，软性材料压住导丝。
在另一优选例中，在所述太阳轮上设置有导丝锁紧器，用于锁紧固定所述导丝。
在另一优选例中，所述导丝锁紧器可以固定在太阳轮的侧面。
在另一优选例中，所述导丝锁紧器是固定的，也可以是可移除的。
在另一优选例中，所述导丝锁紧器分为上下两个部分，上部分的底面上和下部分的顶面上均设有半圆槽，在所述上部分和所述下部分盖合的状态下，两个半圆槽组合成导丝孔，尾端还设有一个导丝锁紧旋钮。
在另一优选例中，所述导丝锁紧器上部分的底面和下部分的顶面，在所述上部分和所述下部分盖合的状态下，导丝被压住固定。
在另一优选例中，所述上部分和所述下部分通过磁铁吸引进行盖合。
需要说明的是，所述上部分和所述下部分还可以以其他方式进行盖合，包括但不限于卡合、嵌合、粘合、摩擦固定等。
操作所述导丝锁紧器时，取下所述导丝锁紧器的上盖，在所述导丝锁紧旋钮中穿入所述导丝，并将所述导丝置入所述导丝孔中，将上下部分盖合，旋紧所述导丝锁紧旋钮，将导丝锁紧器固定在太阳轮上，这样导丝就能随着所述太阳轮旋转而旋转，随着所述太阳轮移动而移动。
在另一优选例中，所述导丝锁紧器包括螺柱和螺母，其中，所述导丝夹在所述螺柱的下边缘和所述螺母的上边缘之间，将所述螺柱和所述螺母拧紧，将所述导丝夹紧，其中所述螺柱和所述螺母之一固定在所述太阳轮上。
在另一优选例中，所述导丝锁紧器包括夹子，其中，所述夹子安装在所述太阳轮上，松开所述夹子放进导丝，夹紧所述夹子即可夹紧所述导丝。
在另一优选例中，所述导丝包括但不限于导丝等其他手术器材。
本发明还提供了一种手术机器人系统，所述系统包括远程微机操控端、手术机械臂和终端执行系统；其中，终端执行系统包括导丝控制模块，用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：转动组件，所述转动组件用于控制所述导丝的旋转，所述转动组件包括一个或多个行星轮，驱动所述行星轮转动的第一非接触式电机系统和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽用于嵌入所述导丝；输送组件，所述输送组件用于控制所述导丝的前进和后退，所述输送组件包括传动丝杆，用于支撑所述太阳轮和所述行星轮的固定盘和用于连接所述传动丝杆和所述固定盘的第二非接触式电机系统；其中，所述传动丝杆与所述第二非接触式电机系统的电机的电机轴同轴设置，随着所述第二非接触式电机系统的电机的转动，所述固定盘前进和后退。
在另一优选例中，所述第一非接触式电机系统附接在所述第二非接触式电机系统上。
在另一优选例中，所述终端执行系统包括驱动壳体和执行壳体，其中，所述行星轮、所述太阳轮和所述固定盘设置在所述执行壳体中，所述传动丝杆设置在所述驱动壳体中，所述驱动壳体和所述执行壳体通过所述第一非接触式电机系统和所述第二非接触式电机系统连接成整体，其中，所述第一非接触式电机系统的电机通过中间连接件附接到所述传动丝杆上，随所述固定盘同进退。
在另一优选例中，所述第二磁感应联轴器与所述固定盘直接连接，在驱动壳体内安装所述传动丝杆，所述传动丝杆以及带动所述传动丝杆转动的所述电机的电机轴直接连接，所述电机驱动所述传动丝杆转动，中间连接件套设在所述传动丝杆上且与所述传动丝杆螺纹配合连接，随着所述传动丝杆的转动，所述中间连接件可以前后移动，所述第一磁感应联轴器与所述中间连接件固定连接，所述第二磁感应联轴器也朝向侧面与和位于所述侧面的所述中间连接件联接的所述第一磁感应联轴器在磁力作用下配合使用，使得在所述电机转动时，所述轮盘组可以前进和后退。该结构可以将传动丝杆从执行壳体内移动至驱动壳体内配置可以简化所述执行壳体内的结构，较少齿轮的使用。
在另一优选例中，所述第一磁感应联轴器和第二磁感应联轴器可以接触式连接，在执行壳体和驱动壳体的联轴器运动轨迹上开槽，以便联轴器运动。
在另一优选例中，所述联轴器可以是非磁性的机械连接，在执行壳体和驱动壳体的联轴器运动轨迹上开槽，以便联轴器运动。
在另一优选例中，所述传动丝杆、带动所述传动丝杆转动的所述电机、套设在所述传动丝杆上的所述中间连接件以及与所述中间连接件联接的所述第一磁感应联轴器形成结构整体，位于所述终端执行系统的侧面或所述驱动壳体内。
在另一优选例中，驱动所述行星轮转动的电机与驱动所述传动丝杆转动的电机类似也移至所述终端执行系统的侧面或所述驱动壳体内。
在另一优选例中，所述传动丝杆和驱动所述传动丝杆转动的电机，以及驱动所述行星轮转动的电机都移到所述驱动壳体内。
在另一优选例中，驱动所述行星轮转动的电机(例如，通过托盘、载件等)附接在所述中间连接件上且随所述传动丝杆的转动与所述轮盘组同步行进。
在另一优选例中，所述行星轮均通过光轴基本均匀间隔地固定在所述固定盘内，其中所述行星轮可相对于光轴转动，其中一个所述行星轮通过蜗杆、传动齿轮(组)等与所述第二磁感应联轴器啮合。
在另一优选例中，在所述电机驱动所述传动丝杆转动的情况下，通过中间连接件连接一所述磁感应联轴器组带动所述轮盘组行进，同时，随所述传动丝杆的转动带动驱动所述行星轮转动的电机与所述轮盘组同步行进，驱动所述行星轮转动的电机通过另一所述磁感应联轴器组带动所述固定盘内的所述行星轮转动，进而促使与所述行星轮啮合的所述太阳轮转动。
在另一优选例中，驱动所述行星轮转动的电机下方设有所述支撑导轨，用于支撑驱动所述行星轮转动的电机并为其行进提供导向。
在另一优选例中，所述支撑导轨包括设置在所述驱动壳体上的所述导轨和附接到驱动所述行星轮转动的电机下方的滚轮，其中所述滚轮可以在所述导轨中滑动，从而起到支撑和导向作用。
在另一优选例中，所述支撑导轨为设置在所述驱动壳体上的表面光滑的导向条，所述导向条的上表面与驱动所述行星轮转动的电机的下表面滑动接触(或磁悬浮支撑导向等)，以提供支撑和导向。
在另一优选例中，所述Y型组合体还包括导引导管支撑部件，用于支撑伸出所述Y型阀的所述导引导管，避免其因长距离伸出所述Y型阀导致的下垂坍塌。
在另一优选例中，所述导引导管支撑部件包括滑动套管、滑动套管把手以及滑动套管轨道。
在另一优选例中，在所述Y型阀内设有所述滑动套管轨道，用于容纳所述滑动套管，且所述滑动套管可在所述滑动套管轨道内滑动以伸出所述Y型阀或撤回到所述Y型阀内。
在另一优选例中，在所述滑动套管的远端(远离操作者的一端)设有所述滑动套管把手，操作者可以通过拖动所述滑动套管把手控制所述导引导管的行进。
在另一优选例中，所述滑动套管把手为位于所述滑动套管远端的凸起。
在另一优选例中，所述滑动套管的上部设有轴向长缝，所述导引导管可通过贯穿所述轴向长缝进入所述滑动套管内并容纳其中。
在另一优选例中，在所述导引导管伸出所述Y型阀较长距离时，通过拉动所述滑动套管把手将所述滑动套管拉出所述滑动套管轨道，以支撑伸出的所述导引导管。
需要说明的是，本申请的手术机器人系统可以应用于介入手术、骨科手术、外科手术及妇科手术。使用的手术器械包括但不限于导丝、导引导管、球囊导管和支架等。
本发明的主要优点包括：
(a)机器人操作可以使术者在手术室外远程操控器械，避免射线对术者的伤害；
(b)机器人操作相比人工操作，提高了操作精度；
(c)机器人操作不会如人工操作般，因为长时间集中注意力导致疲劳或其他原因出现失误，稳定性更好；
(d)远程机器人操作实现了医患分离，减少术者和病患感染的风险；
(e)联轴器之间通过磁感应连接，无需精密的孔径契合，对位方便；
(f)无菌布有效隔离对不可清洗部件的污染，且无菌布透明部位有效保证光的传导，使感应器感应更精准；
(g)手术前精确定位模块中各组件，手术中提高各组件的运动精度；
(h)将终端执行系统分层设置，使得功能模块更加清楚，便于安装；
(i)有效定位导丝控制模块中的太阳轮的轴向位置和径向位置，以及控制手术机械臂的动静状态，提高了调控导丝的精度，使导丝更能够精准到达病变部位，保证手术成功率；
(j)将驱动部件例如电机、传动杆等移至驱动壳体内，减少对执行壳体内空间的占用，使得在执行壳体内更多手术器材的装配和操纵空间；
(k)通过导引导管支撑部件支撑伸出Y型阀的导引导管，避免其因长距离伸出Y型阀导致的下垂坍塌；
(l)提高了手术机器人的安全性。
应理解，在本发明范围内中，本发明的上述各技术特征和在下文(如实施例)中具体描述的各技术特征之间都可以互相组合，从而构成新的或优选的技术方案。限于篇幅，在此不再一一累述。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1a是本发明一个实例中的具有手术机器人系统的手术室布局示意图；
图1b是本发明一个实例中的具有手术机器人系统的操作流程图；
图2是本发明一个实例的手术机器人系统的执行壳体的立体图；
图3是图2中的执行壳体的俯视图；
图4是沿图3的A-A截面截取的剖视图；
图5是沿图3的B-B截面截取的剖视图；
图6是本发明一个实例的附有锁紧装置的太阳轮的立体图；
图7是本发明一个实例的锁紧装置剖视图，其中锁紧装置处于锁紧状态；
图8是本发明一个实例的锁紧装置剖视图，其中锁紧装置处于松开状态；
图9是本发明一个实例的传动轮处于锁紧状态的俯视图；
图10是图9中的传动轮处于松开状态的俯视图；
图11是本发明一个实例的Y型组合体处于前进状态的俯视图；
图12是图11中的Y型组合体处于回撤状态的俯视图；
图13是本发明一个实例的Y型组合体的运动机制原理图；
图14是本发明一个实例的Y型组合体的立体图；
图15是图14中的Y型组合体处于抬起状态的立体图；
图16是图14中的Y型组合体处于打开状态的立体图；
图17是本发明一个实例中的终端执行系统的俯视图；
图18是图17中的终端执行系统的剖视图；
图19是图18中的Ⅰ部分的放大图；
图20是图17中的终端执行系统的主视图；
图21是图20中Ⅱ部分的放大图；
图22是本发明一个实例中的终端执行系统的剖视图；
图23是图22中的终端执行系统的驱动壳体的俯视图；
图24是本发明一个实例中的终端执行系统的导丝控制模块的立体图；
图25是图24中的终端执行系统的导丝控制模块的主视图，并在该图中示意性示出了两个控制模块定位器；
图26是本发明一个实例中的导丝承托滑动杆的立体图；
图27是图26中的导丝承托滑动杆的剖视图，以示出对称的圆通孔；
图28是本发明一个实例中的导丝中心固定器的立体图；
图29是本发明一个实例中的导丝锁紧器的立体图；
图30是图29中的导丝锁紧器的剖视图；
图31是将图28中的导丝中心固定器和图29中的导丝锁紧器置于终端执行系统中时的俯视图；
图32是沿图31中的E-E截面截取的剖视图；
图33是本发明一个实例中的处于初始状态的齿轮齿条组的示意图；
图34是图33中的齿轮齿条组处于操作状态的示意图；
图35是图33和图34中的齿轮齿条组的齿条框的主视图；
图36是图35中的齿轮齿条组的齿条框的立体图；
图37是本发明另一个实施例中的终端执行系统的剖视图；
图38是本发明又一个实施例中的终端执行系统的剖视图；
图39是本发明又一个实施例中的终端执行系统的轴向截面视图；
图40是本发明一个实施例中的设有导引导管支撑部件的执行壳体的主视图；
图41是本发明一个实施例中的设有导引导管支撑部件的执行壳体的俯视图；
图42是沿图41中的F-F截面截取的剖视图。
各附图中，各标示如下：
1-导丝传动轮；2-传动丝杆；3-轮盘组；4-导丝传动轮锁；5-行进轮组；6-Y型组合体；7-传动轮组；8-转动轴；9-滑轮；10-固定盘；11-转动锥齿轮；12-连动皮带；13-固定齿轮；14-线槽；15-太阳轮；16-行星轮；17-按键；18-连动杆；19-弹簧；20-限位块；21-主动部件；22-固定部件；23-传动轮组锁紧开关；24-固定板；25-导丝承托杆；26-主动齿轮；27-齿条；28-连动齿轮；29-电机；30-第一磁感应联轴器；31-第二磁感应联轴器；32-执行壳体；33-驱动壳体；34-转动轮组；35-磁感应联轴器组；36-锁紧装置；37-第一感应点；38-第一感应器；39-第二感应点；40-第二感应器；41-感应器开口；42-导丝承托滑动杆；43-嵌入槽；44-圆通孔；45-导丝控制模块；46-导丝中心固定器；47-导丝锁紧器；48-上部分；49-下部分；50-磁铁；51-导丝孔；52-导丝锁紧旋钮；53-空间层；54-终端执行系统；55-手术机械臂；56-远程微机操控端；57-单齿轮；58-第一齿边；59-第二直边；60-第三连接边；61-运动磁性件；62-固定磁性件；63-Y型阀；64-托盘；65-光轴；66-蜗杆；67-支撑导轨；68-滑动套管；69-滑动套管把手；70-滑动套管轨道；71-导引导管；72-中间连接件。
具体实施方式
本发明人经过广泛而深入的研究，通过大量筛选，首次开发了一种手术机器人系统，与现有技术相比，本申请的系统通过远程操作机器人进行介入手术，以实现手术中远程控制导丝、导引导管的前进、后退及旋转，也可以同时控制球囊导管或支架、导管的前进和后退；通过非接触式电机系统将终端执行系统分为上方的执行壳体和下方的驱动壳体，执行壳体用于容纳一次性使用的各个介入器材的模块组件，驱动壳体用于容纳不可消毒清洗的电源件和控制件，执行壳体和驱动壳体之间形成空间间隙，以放置无菌布，阻隔对驱动壳体不可消毒清洗部件的污染，从而不影响血管介入机器人的正常运行；定位器组件通过设置用于轴向定位太阳轮的第一感应器和第一感应点，和用于定位太阳轮径向位置的第二感应器和第二感应点，有效地确定太阳轮的位置和角度，便于调控介入器材进退距离和旋转角度；将驱动部件例如电机、传动杆等移至驱动壳体内，减少对执行壳体内空间的占用，使得在驱动壳体内更多介入器材的装配和操纵空间，且便于清洗驱动壳体；另外，通过设置 手术机械臂定位器，以确保在执行壳体装配在驱动壳体(即执行壳体位于驱动壳体之上)的情况下，手术机械臂固定不动，避免其运动对手术产生不良影响，提高机器人的安全性，本发明将多种介入手术耗材组合在一个系统中，其中机械制动主要由齿轮间啮合或通过传动杆进行传动实现，本发明实现了介入手术的机器人化，避免了术者在手术中受到大量的射线伤害，同时，介入手术的机器人化，提高了手术的稳定性和精确性，进一步的，术者通过远程操控，减少医患交叉感染的风险，在此基础上完成了本发明。
下面结合具体实施例，进一步阐述本发明。应理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。此外，附图为示意图，因此本发明装置和设备的并不受所述示意图的尺寸或比例限制。
需要说明的是，在本专利的权利要求和说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
实施例1
本实施例的手术机器人系统如图1a-16所示。该手术机器人系统远程微机操控端56、手术机械臂55和终端执行系统54。其中终端执行系统54包括导丝控制模块、球囊/支架控制模块和导引导管控制模块，可以控制导丝的前进、后退及旋转，同时也可以控制球囊导管或支架导管，以及导引导管的前进、后退及旋转。其中，导丝控制模块包括转动组件和行进组件。
转动组件用于控制导丝的旋转，转动组件包括转动轮组、与行进轮组5同心连接的转动轴8，套设在转动轴8上且相对于转动轴可滑动的行星轮16，和与行星轮16啮合的太阳轮15，其中太阳轮15上设有线槽14，用于嵌入导丝线槽沿半径从 外向内的方向是渐缩的，以便用于嵌入不同直径的导丝。线槽14开口设在太阳轮15的齿与齿之间的谷底部，不会影响太阳轮15和其它齿轮间的啮合。线槽14由太阳轮15齿与齿之间的谷底开至太阳轮15圆心，所述线槽14用于嵌入所述导丝并保证导丝转动的同轴性。转动轴8为六边形轴。
行进组件用于控制导丝的前进或后退，行进组件包括行进轮组5、与行进轮组5的齿轮同心连接的传动丝杆2，和用于支撑太阳轮15的固定盘10。太阳轮15和行星轮16均放置在固定盘10的内腔中，且随固定盘10的前后运动而运动。传动丝杆2的近端与行进轮组5的行进锥齿轮11连接固定，转动轴8的近端与转动轮组连接固定，传动丝杆2的远端和转动轴的远端均通过轴承固定在远端的固定板24上。在固定板24上设置有线槽14，以允许导丝的嵌入。行进轮组5由两组行进锥齿轮11组构成。行进轮组还5包括用于连接行进锥齿轮11的连动皮带12，通过连动皮带12实现行进轮组5的行进锥齿轮11之间的连动。固定盘10为中空盘，太阳轮15置于固定盘10的中空内腔中，固定盘10还设有径向开口，用于导丝的嵌入。太阳轮15和固定盘10同心对齐。
转动轮组和行进轮组5均位于同一截面上。转动轮组和行进轮组5均通过电机驱动，转动轮组的转动带动同心连接的转动轴8一同转动，转动轴8又带动行星轮16转动，行星轮16通过啮合作用带动太阳轮15转动。
行进轮组5的齿轮的转动带动传动丝杆2转动，固定盘10与传动丝杆2螺纹啮合连接，并随着传动丝杆2的转动而前进或后退。
在固定盘10上设有至少两个固定齿轮13，固定齿轮13与太阳轮15啮合连接，用于固定太阳轮15。固定齿轮13对称设置在固定盘10上部，用以为太阳轮15提供对称的支撑力，并提供与转动轴8相对应的夹持力。
其中，太阳轮15、固定齿轮13、行星轮16和固定盘10的组合称为轮盘组3。
导丝控制模块包括用于锁紧导丝的锁紧装置，锁紧装置固定在太阳轮15上。锁紧装置包括锁紧控制组件、主动部件21、和固定部件22，其中，固定部件22固定在太阳轮15上且与线槽14的一侧对齐，主动部件21相对于固定部件22设置，且与线槽14的另一侧对齐，锁紧控制组件与主动部件21连接，用于控制主动部件21相对于固定部件22的位置关系。锁紧控制组件控制主动部件21远离固定部件22，即线槽14形成通路，可嵌入导丝。锁紧控制组件控制主动部件21抵靠固定部件22，将嵌入线槽14中的导丝夹紧。锁紧装置可通过电动或气动驱动。
锁紧控制组件包括按键17、连动杆18、弹簧19和限位块20，其中，弹簧19和限位块20设置在主动部件21的内腔中，限位块20固定不动，弹簧19位于限位块20和主动部件21的侧壁之间，连动杆18的一端与按键17连接，另一端与主动部件21连接。在锁紧装置处于松开状态下，通过按压按键17，带动连动杆18外移，从而带动主动部件21径向向外移动，主动部件21远离固定部件22，此时，弹簧19处于压缩状态。在锁紧装置处于锁紧状态下，解除对按键17的按压控制，在弹簧19的弹力作用下，主动部件21径向向内移动并抵靠固定部件22，按键17回复到初始位置。
主动部件21和固定部件22之间的接触面为齿状夹面，以对导丝提供更大的夹持力。
导丝控制模块包括导丝承托杆，导丝承托杆设置在太阳轮15和固定板24之间。导丝承托杆在沿导丝轴向方向是可滑动的。
导丝承托杆包括支撑架25和两侧滑轮9，其中在支撑架25上设有与太阳轮15和固定板24上的线槽相对应的线槽，在使用状态下，导丝嵌于线槽中，两侧的滑轮9可分别在与之对应的两侧壁面上的滑槽中移动。
滑槽起始于与太阳轮15和固定板24的中段对应的两侧壁面，终止于与固定板24对应的两侧壁面。
滑槽起始于与太阳轮15对应的两侧壁面，终止于与固定板24对应的两侧壁面，其中，在与太阳轮15和固定板24的中段对应的滑槽段上设有止挡件，止挡件用于阻挡中间支撑件的滑动。
导丝承托杆上设有一磁铁，与之对应的，轮盘罩上设有另一磁铁，这两个磁铁是相互吸引的关系。在输送导丝的操作中，导丝承托杆初始位于太阳轮15和固定板24的中段且导丝置于线槽中，随着固定盘10沿传动丝杆2向远端移动，两磁铁产生吸引作用，导丝承托杆连同固定盘10一起继续向远端移动；在回撤导丝的操作中，导丝承托杆连同固定盘10一起向近端回撤，当回撤到太阳轮15和固定板24的中段位置时，在止挡件或者滑槽壁的阻挡作用下，导丝承托杆不再回撤而被固定，固定盘10则可继续回撤。
在固定板24的远端侧，并距离固定板24(中心距)5-15mm处设有一对导丝传动轮1，用于在远端支撑并输送导丝。该导丝传动轮1的接合处与固定板24上的线槽14是相对应的。导丝置于导丝传动轮1之间，通过导丝传动轮1之间的摩擦 输送导丝。该对导丝传动轮1配有一副导丝传动轮锁4，用于控制导丝传动轮1之间的距离，进而控制导丝传动轮1的锁紧情况。
球囊/支架控制模块包括传动轮组7，传动轮组7用于控制球囊导管或支架导管的前进或后退。传动轮组7包括两对摩擦轮组，和连接在下方的齿轮组，齿轮与电机连接。使用时，电机驱动齿轮转动，齿轮带动上方的摩擦轮组转动，摩擦轮组夹持的球囊导管或支架导管随之前进或后退。该传动轮组7同样配有一副传动轮组锁紧开关23，该传动轮组锁紧开关23用于控制一组传动轮组7之间的距离，进而控制传动轮组7的锁紧情况。
导引导管控制模块包括Y型组合体6，Y型组合体6用于导丝(未示出)和导引导管(未示出)的Y型组合，Y型组合体6是可移动的，Y型组合体6的移动可以输送或回撤导引导管。Y型组合体6设置在系统的远端，其通过齿轮(26、28)和齿条27的啮合而进行前后运动。其中，Y型组合体6与齿条27固定连接，主动齿轮26与电机连接，主动齿轮26通过齿轮间的相互啮合26带动连动齿轮28转动，齿轮(26、28)又和齿条27相互啮合。使用时，电机驱动主动齿轮26转动，在啮合作用下，齿条27前进或后退，进而带动Y型组合体6前进或后退。
术者通过远程微机操控端56，利用信号传输远程控制导引导丝控制模块、球囊/支架控制模块和导引导管模块的运动。需要说明的是，Y型阀(Y型组合体6)的前端连接导引导管，通过控制Y型阀的前后移动控制导引导管的前后移动；传动轮组7夹持球囊导管或者支架球囊导管前进或后退；转动轮组和行进轮组5控制导丝旋转、前进或后退；而所有部件的旋转、前进或后退，都可以通过术者在手术室外操控终端控制器完成。系统与操作终端通过有线、无线(WiFi，蓝牙等)或互联网进行通讯。操作终端为计算机，包括操纵杆和平板电脑，术者通过调整显示在平板电脑上的参数，调整导丝前进或后退距离和导丝旋转角度，调整导引导管前进或后退距离，以及调整球囊导管或支架导管的前进或后退距离，然后操作操纵杆控制导丝前进、后退或旋转，操作操纵杆控制球囊导管或支架导管前进或后退，操作操纵杆控制导引导管前进、后退或旋转。
需要说明的是，固定板24上有两个以上的线槽14，手术中使用2-3个导丝时，线槽14分别嵌入导丝。
该系统的材质采用PC、尼龙等塑料材料或304、316不锈钢等金属材料，对人体无毒害，还可以消毒灭菌，且价格低廉，适合一次性使用。
优选地，该系统还包括非接触式电机系统，该非接触式电机系统设置在终端执行系统54上，用于为介入器材的前进、后退和旋转提供传动力，如图17-21所示。
终端执行系统54包括执行壳体32和驱动壳体33，其中执行壳体32装载用于驱动介入器材的前进、后退和旋转的机械部件，驱动壳体33装载用于为机械部件提供动力的电动组件(例如，包括但不限于电源件和控制件)。
非接触式电机系统包括电机29(电机29固定在驱动壳体33中)、与电机29联接且由电机29驱动的第一磁感应联轴器30、与第一磁感应联轴器30相对应设置的第二磁感应联轴器31(第二磁感应联轴器31固定在执行壳体32的底面壁上)、和与第二磁感应联轴器31联接的传动齿轮。其中，第一磁感应联轴器30和第二磁感应联轴器31同轴心相对。
在本实施例中，非接触式电机系统的数量为4个。第二磁感应联轴器31可通过传动齿轮分别与行进轮组5、转动轮组34、传动轮组7和用于导引导管的齿轮齿条组连接，进而驱动其运行。
在该对第一磁感应联轴器和第二磁感应联轴器的支撑下，在执行壳体32和驱动壳体33之间形成厚度为2-20毫米的空间层。由于该空间层的存在，使得可以在执行壳体32和驱动壳体33之间铺设有无菌布(例如，隔血无菌布)，用于减少对驱动壳体33中部件的污染。
终端执行系统54包括所述介入器材中的导丝控制模块，导丝控制模块包括转动组件和行进组件。行进组件用于控制导丝的前进和后退；转动组件用于控制导丝的旋转。转动组件包括转动轮组，与转动轮组同心连接的转动轴，套设在转动轴上且相对于转动轴可滑动的行星轮，和与行星轮啮合的太阳轮。太阳轮上设有线槽，线槽由太阳轮的齿与齿之间的谷底开至太阳轮圆心，线槽用于嵌入导丝并保证导丝转动的同轴性。行进组件包括行进轮组，与行进轮组的锥齿轮同心连接的传动丝杆，和用于支撑太阳轮的固定盘。其中，转动轮组和行进轮组均通过上述的非接触式电机系统驱动。其中，其转动轮组34、行进轮组5，以及与二者齿轮啮合的传动齿轮均为锥齿轮组，如图19所示。
终端执行系统54包括所述介入器材中的球囊/支架控制模块。球囊/支架控制模块用于控制球囊导管或支架导管的前进或后退。球囊/支架控制模块包括传动轮组件，传动轮组件包括摩擦轮组，摩擦轮组下方有摩擦轮组齿轮互相啮合连接，摩擦 轮组夹持球囊导管或支架导管前进或后退。终端执行系统54还包括所述介入器材中的导引导管控制模块。导引导管控制模块用于控制导引导管的前进或后退。导引导管控制模块包括Y型组合体，Y型组合体包括上方的Y型阀和下方的齿轮齿条组，Y型阀远端端口连接导引导管，近端端口穿入导丝，导丝通过Y型阀进入导引导管，并沿着导引导管内腔到达手术部位，齿轮齿条组带动Y型组合体前进或后退，从而带动导引导管的前进或后退。其中，摩擦轮组和齿轮齿条组均通过非接触式电机系统驱动，其中，其传动轮组7为直齿轮组，如图21所示。
终端执行系统54固定在手术机械臂55的末端上，且随手术机械臂55移动，远程微机操控端56控制手术机械臂55的运动和终端执行系统54内部的运动。
如图22-25所示，终端执行系统54包括执行壳体32和驱动壳体33，其中执行壳体32装载用于执行介入器材的输送、回撤和旋转的机械部件，驱动壳体33装载用于为机械部件提供驱动动力的电动组件，执行壳体32和驱动壳体33之间通过磁感应联轴器组35进行隔空联接，在执行壳体32和驱动壳体33之间形成间隙为2-20毫米的空间层53。
终端执行系统54包括导丝控制模块45，导丝控制模块45用于控制导丝的前进、后退及旋转。导丝控制模块45包括用于控制导丝的旋转的转动组件和用于控制导丝的前进或后退的行进组件。
转动组件包括转动轮组34、与转动轮组34同心连接的转动轴8，套设在转动轴8上且相对于转动轴8可滑动的行星轮，和与行星轮啮合的太阳轮15，其中太阳轮15上设有线槽14，线槽14由太阳轮15的齿与齿之间的谷底开至太阳轮15圆心，线槽14用于嵌入导丝并保证导丝转动的同轴性。使用时，转动轮组34的转动带动同心连接的转动轴8一同转动，转动轴8又带动行星轮转动，行星轮通过啮合作用带动太阳轮15转动，从而带动导丝的转动。
行进组件包括行进轮组5、与行进轮组5的锥齿轮同心连接的传动丝杆2，和用于支撑太阳轮15的固定盘10。使用时，行进轮组5的锥齿轮的转动带动传动丝杆2转动，固定盘10与传动丝杆2螺纹啮合连接，并随着传动丝杆2的转动而前进或后退，固定盘10的前进或后退，带动导丝的前进或后退。在固定盘10上设有至少两个固定齿轮，固定齿轮与太阳轮15齿轮啮合连接，用于固定太阳轮15。
转动轮组34和行进轮组5均通过上述的磁感应联轴器组35与驱动壳体33中 的电机连接，从而被驱动。
导丝控制模块45还包括用于锁紧导丝的锁紧装置36，锁紧装置36固定在太阳轮15上。锁紧装置36包括锁紧控制组件、主动部件、和固定部件，其中，固定部件固定在太阳轮15上且与线槽14的一侧对齐，主动部件相对于固定部件设置，且与线槽14的另一侧对齐，锁紧控制组件与主动部件连接，用于控制主动部件相对于固定部件的位置关系。
锁紧控制组件控制主动部件远离固定部件，即线槽14形成通路，可嵌入导丝，进一步地，控制主动部件抵靠固定部件，将嵌入线槽14中的导丝夹紧。锁紧装置36可以是电动夹结构，通过电动驱动；或者是气动夹结构，通过气动驱动。
锁紧控制组件包括按键、连动杆、弹簧和限位块，其中，弹簧和限位块设置在主动部件的内腔中，限位块固定不动，弹簧位于限位块和主动部件的侧壁之间，连动杆的一端与按键连接，另一端与主动部件的连接。
在锁紧装置36处于松开状态下，通过按压按键，带动连动杆外移，从而带动主动部件径向向外移动，主动部件远离固定部件，此时，弹簧处于压缩状态。在锁紧装置36处于锁紧状态下，解除对按键的按压控制，在弹簧的弹力作用下，主动部件径向向内移动并抵靠固定部件，按键回复到初始位置。
优选地，主动部件和固定部件之间的接触面为齿状夹面，以对导丝提供更大的夹持力。更优地，齿状夹面覆有硅胶涂层。
本实施例用于血管介入机器人的定位器组件包括导丝控制模块定位器和手术机械臂定位器。
导丝控制模块定位器用于终端执行系统54的导丝控制模块45的定位。导丝控制模块定位器包括设置在固定盘10底部的第一感应点37，用于感应第一感应点37的第一感应器38；设置在太阳轮15上的与线槽14相对的一端上的第二感应点39，用于感应第二感应点39的第二感应器40；第一感应器38和第二感应器40设置在终端执行系统54的底部。第一感应器38和第二感应器40均设置在驱动壳体33上，第一感应点37和第二感应点39均设置在执行壳体32上。在执行壳体32上的与驱动壳体33上的第一感应器38和第二感应器40对应的位置上设有感应器开口41，第一感应器38和第二感应器40分别通过感应器开口41感测第一感应点37和第二感应点39；或者执行壳体32的底面壁不设有感应器开口41，其与为第一感应器 38和第二感应器40对应的部分为透明的，或者执行壳体32的底面壁整体为透明的。本实施例的第一感应器38和第二感应器40均为激光感应器。
在操作时，当第一感应器38感测到固定盘10底部的第一感应点37(第一感应点37在第一感应器38的正上方)时，发送信号给远程微机操控端56(例如，电脑等)，对导丝控制模块45进行轴向定位。当第二感应器40感测到位于锁紧装置36的与线槽14相对的一端上的第二感应点39(第二感应点39在第二感应器40的正上方)时，发送信号给远程微机操控端56，对导丝控制模块45进行径向定位。
对介入器材控制模块45进行轴向定位的目的在于，便于计算介入器材前进的距离以及为介入器材设置目标远近位置；对介入器材控制模块45进行径向定位的目的在于，便于计算介入器材旋转的角度以及为所述介入器材设置目标角度。
定位器组件还包括手术机械臂定位器，手术机械臂定位器设置在终端执行系统54的驱动壳体33上，用于感测执行壳体32是否位于驱动壳体33之上。在手术机械臂定位器感测到执行壳体32位于驱动壳体33之上时，手术机械臂55固定不动；在手术机械臂定位器感测到执行壳体32从驱动壳体33之上移除时，手术机械臂55可以自由移动。手术机械臂定位器为红外感应器。
优选地，在执行壳体32和驱动壳体33之间布置有无菌布，用于阻隔手术时对驱动壳体33中部件的污染。其中，无菌布位于感应器的部位为透明的。
此外，在导丝控制模块45(即导丝移动/旋转模块)中，导丝一端被夹持在太阳轮15上，另一端搁放在导丝控制模块45的外壳筒上。此时，在太阳轮15和外壳筒之间放置一个导丝承托滑动杆42，如图26-27所示，导丝承托滑动杆42是半圆形结构，半圆形底边伸出两根L形状支架，嵌入外壳筒两边的滑轨槽中，使导丝承托滑动杆42可以在滑轨槽中前后移动。导丝承托滑动杆42从顶部到近圆心处开有嵌入槽43，宽度为0.1-5毫米，嵌入槽43底部的高度与太阳轮15的圆心和导丝控制模块45的外壳筒上导丝搁放点的高度在同一水平线上。在导丝承托滑动杆42半圆形结构的两侧面分别开一个圆通孔44，圆通孔44直径0.1-3毫米，分别从圆通孔44两端插入两根软性管材，软性管材在穿过圆通孔44后在嵌入槽43处相抵，以阻挡导丝翘起、卷曲，甚至脱离导丝承托滑动杆42的嵌入槽43。
导丝承托滑动杆42上设有第一磁铁50，与之对应的，固定盘10上设有第二磁铁50，第一磁铁50和第二磁铁50相互吸引。
在输送导丝的操作中，导丝承托滑动杆42位于太阳轮15和外壳筒的中段且导丝置于嵌入槽43中，随着固定盘10沿传动丝杆2向近端移动，第二磁铁50和第一磁铁50产生吸引作用，导丝承托滑动杆42连同固定盘10一起继续向近端移动；在回撤导丝的操作中，导丝承托滑动杆42同固定盘10一起向远端回撤，当回撤到太阳轮15和外壳筒的中段位置时，在止挡件或者滑轨槽的壁的阻挡作用下，导丝承托滑动杆42不再回撤而被固定，固定盘10则可继续回撤。
优选地，如图40-42所示，Y型组合体6还包括导引导管支撑部件，用于支撑伸出Y型阀的导引导管71。该导引导管支撑部件包括滑动套管68、滑动套管把手69以及滑动套管轨道70。其中，在Y型阀内设有滑动套管轨道70，用于容纳滑动套管68，且滑动套管68可在该滑动套管轨道70内滑动以伸出Y型阀或撤回到Y型阀内；在滑动套管68的远端(远离操作者的一端)设有滑动套管把手69，操作者可以通过拖动该滑动套管把手69控制导引导管71的行进。在一个实施例中滑动套管把手69为位于滑动套管68远端的凸起。滑动套管68的上部设有轴向长缝，导引导管71可通过该轴向长缝进入滑动套管68内并容纳其中。
在导引导管71伸出Y型阀较长距离时，通过拉动滑动套管把手69将滑动套管68拉出滑动套管轨道70，以支撑伸出的导引导管71；若该需求不存在时，则把滑动套管68推回Y型阀内。
实施例2
本实施例的终端执行系统54与实施例1类似，与之不同的是本实施例的终端执行系统54还设有导丝中心固定器46，并用导丝锁紧器47取代实施例1中的锁紧装置36，如图28-32所示。
导丝中心固定器46设置在太阳轮15上，其具有类似上述导丝承托滑动杆42的嵌入槽43和圆通孔44对的配置，其与线槽14相对应设置，以用于固定通过线槽14的导丝。导丝中心固定器46为圆柱形结构，与太阳轮15同圆心固定连接，与太阳轮15一样开槽到圆心，且与线槽14相对应，在槽的两侧开圆通孔44，分别用于插入软性材料。将导丝嵌入太阳轮15及限位槽，软性材料压住导丝。
导丝锁紧器47可移除地设置在太阳轮15近端侧面上，用于锁紧固定导丝。导丝锁紧器47分为上、下两个部分，上部分48和下部分49通过磁铁50吸引进行盖 合(需要说明的是，上部分48和下部分49还可以其他方式进行盖合，包括但不限于卡合、嵌合、粘合、摩擦固定等)。上部分48的底面上和下部分26的顶面上均设有半圆槽，在上部分48和下部分49盖合的状态下，两个半圆槽组合成导丝孔51，尾端还设有一个导丝锁紧旋钮52。
操作导丝锁紧器47时，取下导丝锁紧器47的上盖，在导丝锁紧旋钮52中穿入导丝，并将导丝置入导丝孔51中，将上下部分49盖合，旋紧导丝锁紧旋钮52，将导丝锁紧器47固定在太阳轮15上，这样导丝就能随着太阳轮15旋转而旋转。
在另一实施例中，导丝锁紧器47为螺柱和螺母的结构，其中，导丝夹在螺柱的下边缘和螺母的上边缘之间，将螺柱和螺母拧紧，将导丝夹紧。其中螺柱和螺母之一固定在太阳轮15上。
在另一实施例中，导丝锁紧器47为夹子的结构，其中，夹子安装在太阳轮15上，松开夹子放进导丝，夹紧夹子即可夹紧导丝。
实施例3
本实施例的终端执行系统54与实施例1类似，与之不同的是本实施例的用于导引导管的齿轮齿条组是通过单齿轮57实现的，且通过磁性件组进行定位，如图33-36所示。
机器人用于介入治疗，包括远程微机操控端、手术定位机械臂和终端执行系统，其中，终端执行系统固定在手术定位机械臂的末端上，且随手术定位机械臂移动，远程微机操控端控制手术定位机械臂的运动和终端执行系统内部的运动。
终端执行系统包括介入器材中的导引导管控制模块，导引导管控制模块用于控制导引导管的前进或后退，导引导管控制模块包括Y型组合体，Y型组合体包括上方的Y型阀63和下方的齿轮齿条组。
Y型阀63远端端口连接导引导管，近端端口穿入导丝，导丝通过Y型阀63进入导引导管，并沿着导引导管内腔到达手术部位。
齿轮齿条组包括齿条框、单齿轮57、安装在齿条框上的运动磁性件61，和与运动磁性件61相作用的固定磁性件62。Y型阀63固定在齿条框上，随齿条框的运动而运动。单齿轮57与齿条框上的直齿条啮合连接。固定磁性件62固定在终端执行系统的执行壳体中。
齿条框包括第一齿边58，第二直边59和第三连接边60。第一齿边58上设有 与单齿轮57相啮合的直齿条，第二直边59和第一齿边58平行相对设置。第三连接边60将第一齿边58和第二直边59连接成一体形成半包围结构，单齿轮57位于半包围结构中。单齿轮57的一端与第一齿边58的直齿条相啮合，单齿轮57的另一端与第二直边59相抵。运动磁性件61固定在第三连接边60上。
所述齿条框通过所述运动磁性件61与固定在所述终端执行系统的壳体上的所述固定磁性件62相作用，防止所述齿条框随意滑动。
在手术过程中，驱动装置驱动单齿轮57转动，由于单齿轮57和齿条框的啮合关系，齿条框克服固定磁性件62的作用力而向前移动，从而带动Y型阀63向前移动，避免各部件之间的不需要的相对位移而导致的精度损失。
驱动装置为非接触式电机系统。非接触式电机系统包括电机、与电机联接且由电机驱动的第一磁感应联轴器、与第一磁感应联轴器相对应设置的第二磁感应联轴器、和与第二磁感应联轴器联接的传动齿轮组；其中，第一磁感应联轴器和第二磁感应联轴器同轴心相对；第一磁感应联轴器和第二磁感应联轴器之间的距离为2-20毫米。
实施例4
本实施例的终端执行系统54与实施例1类似，与之不同的是本实施例中的第二磁感应联轴器31与固定盘10直接连接，传动丝杆2以及带动传动丝杆2转动的电机29被移到终端执行系统54的侧面，电机29的电机轴和传动丝杆2轴直接连接，电机29驱动传动丝杆2转动，并增设套设在传动丝杆2上且与传动丝杆2螺纹配合连接的中间连接件72，随着传动丝杆2的转动，中间连接件72可以前后移动，第一磁感应联轴器30与中间连接件72固定连接，第二磁感应联轴器31也朝向侧面与和位于侧面的中间连接件72联接的第一磁感应联轴器30在磁力作用下配合使用，由此构成新的轮盘组3行进机构，在电机29转动时，轮盘组3可以前进和后退，如图37所示。
实施例5
如图38-39所示，本实施例的终端执行系统54与实施例4类似，与之不同的是本实施例中的传动丝杆2以及带动传动丝杆2转动的电机29移到驱动壳体33内，第一磁感应联轴器30和第二磁感应联轴器31形成上下配合关系。此外，驱动行星 轮16转动的电机29也移至驱动壳体33内，且取消了转动轴8，取而代之的是将驱动行星轮16转动的电机29(例如通过图38中的托盘64)附接在中间连接件72上且随传动丝杆2的转动与轮盘组3同步行进。对应地，在执行壳体32中，行星轮16通过光轴65固定在固定盘10内，行星轮16可相对于光轴65转动，其中一个行星轮16(例如，图38中位于右下角的行星轮)通过蜗杆66、传动齿轮(组)等与第二磁感应联轴器31啮合。
在电机29驱动传动丝杆2转动的情况下，通过一个中间连接件72和磁感应联轴器组带动轮盘组3行进，同时，随传动丝杆2的转动带动驱动行星轮16转动的电机29与轮盘组3同步行进，驱动行星轮16转动的电机29通过另一磁感应联轴器组带动固定盘10内的行星轮16转动，进而促使与行星轮16啮合的太阳轮15转动。
优选地，驱动行星轮16转动的电机29下方设有支撑导轨67，用于支撑驱动行星轮16转动的电机29并为其行进提供导向。在一个优选例中，支撑导轨67包括设置在驱动壳体33上的导轨和附接到驱动行星轮16转动的电机29下方的滚轮，其中滚轮可以在导轨中滑动，从而起到支撑和导向作用。在另一个优选例中，支撑导轨67为设置在驱动壳体33上的表面光滑的导向条，该导向条的上表面与驱动行星轮16转动的电机29的下表面滑动接触(或磁悬浮支撑导向等)，以提供支撑和导向。支撑导轨67的上述实施方式并不意味着限制，其可以具有其他多种实施方式，只要能实现为驱动行星轮16转动的电机29提供导向和支撑即可。
在本发明提及的所有文献都在本申请中引用作为参考，就如同每一篇文献被单独引用作为参考那样。此外应理解，在阅读了本发明的上述讲授内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。

Claims (15)

  1. 一种手术机器人系统，其特征在于，所述系统包括远程微机操控端、手术机械臂和终端执行系统，其中，终端执行系统包括
    导丝控制模块，用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：
    转动组件，用于控制所述导丝的旋转，所述转动组件包括转动轮组、与所述转动轮组同心连接的转动轴，套设在所述转动轴上且相对于所述转动轴可滑动的行星轮，和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽由所述太阳轮的齿与齿之间的谷底开至所述太阳轮圆心，所述线槽用于嵌入所述导丝并保证所述导丝转动的同轴性；和
    行进组件，用于控制所述导丝的前进或后退，所述行进组件包括行进轮组、与所述行进轮组的锥齿轮同心连接的传动丝杆，和用于支撑所述太阳轮的固定盘；
    球囊/支架控制模块，用于控制球囊导管或支架导管的前进或后退，所述球囊/支架控制模块包括传动轮组件，所述传动轮组件包括摩擦轮组，所述摩擦轮组下方有摩擦轮组齿轮互相啮合连接，所述摩擦轮组夹持所述球囊导管或所述支架导管前进或后退；以及
    导引导管控制模块，用于控制导引导管的前进或后退，所述导引导管控制模块包括Y型组合体，所述Y型组合体包括上方的Y型阀和下方的齿轮齿条组，所述Y型阀远端端口连接所述导引导管，近端端口穿入所述导丝，所述导丝通过所述Y型阀进入所述导引导管，并沿着所述导引导管内腔到达手术部位，所述齿轮齿条组带动所述Y型组合体前进或后退，从而带动所述导引导管的前进或后退；
    其中，所述转动轮组、所述行进轮组、所述摩擦轮组和所述Y型组合体均通过电机驱动，并与远程微机连接。
  2. 如权利要求1所述的系统，其特征在于，所述导丝控制模块中的所述转动轮组的转动带动同心连接的所述转动轴一同转动，所述转动轴又带动所述行星轮转动，所述行星轮通过啮合作用带动所述太阳轮转动，从而带动导丝的转动；
    所述行进轮组的锥齿轮的转动带动所述传动丝杆转动，所述固定盘与所述传动丝杆螺纹啮合连接，并随着所述传动丝杆的转动而前进或后退，所述固定盘的前进或后退，带动导丝的前进或后退。
  3. 如权利要求1所述的系统，其特征在于，所述球囊/支架控制模块中传动轮 组件的摩擦轮组齿轮转动，带动上方摩擦轮转动，所述摩擦轮的转动，带动所述摩擦轮夹持着的球囊导管或支架导管的前进或后退。
  4. 如权利要求1所述的系统，其特征在于，所述导引导管模块中Y型组合体的齿轮齿条组中的齿轮带动与之啮合的齿条移动，使所述Y型阀和连接的所述导引导管前进或后退。
  5. 如权利要求1所述的系统，其特征在于，在整个系统的纵向方向上，从近端到远端设有多个可以自上而下直接放置导丝的线槽，包括外盒、轮盘组、导丝承托杆和固定板，便于手术前放置导丝和手术中取出及交换导丝，也便于导丝和球囊导管或支架导管的配合使用。
  6. 如权利要求1所述的系统，其特征在于，在所述固定盘上设有至少两个固定齿轮，所述固定齿轮与所述太阳轮齿轮啮合连接，用于固定所述太阳轮。
  7. 如权利要求1所述的系统，其特征在于，所述导丝控制模块包括用于锁紧所述导丝的锁紧装置，所述锁紧装置固定在所述太阳轮上。
  8. 如权利要求7所述的系统，其特征在于，所述锁紧装置包括锁紧控制组件、主动部件、和固定部件，其中，所述固定部件固定在所述太阳轮上且与所述线槽的一侧对齐，所述主动部件相对于所述固定部件设置，且与所述线槽的另一侧对齐，所述锁紧控制组件与所述主动部件连接，用于控制所述主动部件相对于所述固定部件的位置关系；
    所述锁紧控制组件包括按键、连动杆、弹簧和限位块，其中，所述弹簧和所述限位块设置在所述主动部件的内腔中，所述限位块固定不动，所述弹簧位于所述限位块和所述主动部件的侧壁之间，所述连动杆的一端与所述按键连接，另一端与所述主动部件的连接。
  9. 如权利要求1所述的系统，其特征在于，所述导丝控制模块包括导丝承托杆，所述导丝承托杆设置在轮盘组和所述固定板之间。
  10. 如权利要求1所述的系统，其特征在于，术者通过远程微机操控端，利用信号传输远程控制所述导丝控制模块、球囊/支架控制模块和导引导管控制模块的运动。
  11. 如权利要求1所述的系统，其特征在于，所述系统包括非接触式电机系统，所述非接触式电机系统设置在所述终端执行系统上，用于为所述介入器材的前进、后退和旋转提供传动力；
    所述非接触式电机系统包括电机、与所述电机联接且由所述电机驱动的第一磁感应联轴器、与所述第一磁感应联轴器相对应设置的第二磁感应联轴器、和与所述第二磁感应联轴器联接的传动结构；其中，所述第一磁感应联轴器和所述第二磁感应联轴器同轴心相对；所述第一磁感应联轴器和所述第二磁感应联轴器之间的距离为0-20毫米。
  12. 如权利要求1所述的系统，其特征在于，所述齿轮齿条组包括齿条框，所述Y型阀固定在所述齿条框上；齿轮，所述齿轮与所述齿条框上的直齿条啮合连接；安装在所述齿条框上的运动磁性件；和与所述运动磁性件相作用的固定磁性件；其中，所述固定磁性件固定在所述终端执行系统的壳体上。
  13. 如权利要求1所述的系统，其特征在于，所述系统包括定位器组件，所述定位器组件包括导丝控制模块定位器，所述导丝控制模块定位器用于所述终端执行系统的导丝控制模块的定位；
    所述导丝控制模块定位器包括设置在所述固定盘底部的第一感应点，用于感应所述第一感应点的第一感应器；设置在所述太阳轮上的与所述线槽相对的一端上的第二感应点，用于感应所述第二感应点的第二感应器；所述第一感应器和所述第二感应器设置在所述终端执行系统的底部；
    其中，所述第一感应器通过感测到所述第一感应点而确定所述固定盘的位置，在确定所述固定盘的位置的情况下，所述第二感应器通过感测到所述第二感应点而确定所述太阳轮的角度位置。
  14. 一种手术机器人系统，所述系统包括远程微机操控端、手术机械臂和终端执行系统；其中，终端执行系统包括导丝控制模块，用于控制导丝的前进、后退及旋转，所述导丝控制模块包括：
    转动组件，所述转动组件用于控制所述导丝的旋转，所述转动组件包括一个或多个行星轮，驱动所述行星轮转动的第一非接触式电机系统和与所述行星轮啮合的太阳轮，其中所述太阳轮上设有线槽，所述线槽用于嵌入所述导丝；
    输送组件，所述输送组件用于控制所述导丝的前进和后退，所述输送组件包括传动丝杆，用于支撑所述太阳轮和所述行星轮的固定盘和用于连接所述传动丝杆和所述固定盘的第二非接触式电机系统；
    其中，所述传动丝杆与所述第二非接触式电机系统的电机的电机轴同轴设置，随着所述第二非接触式电机系统的电机的转动，所述固定盘前进和后退。
  15. 如权利要求14所述的系统，其特征在于，所述终端执行系统包括驱动壳体和执行壳体，其中，所述行星轮、所述太阳轮和所述固定盘设置在所述执行壳体中，所述传动丝杆设置在所述驱动壳体中，所述驱动壳体和所述执行壳体通过所述第一非接触式电机系统和所述第二非接触式电机系统连接成整体，其中，所述第一非接触式电机系统的电机通过中间连接件附接到所述传动丝杆上，随所述固定盘同进退。
PCT/CN2022/111249 2021-08-11 2022-08-09 手术机器人系统 Ceased WO2023016469A1 (zh)

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CN202210114671.5A CN116549814B (zh) 2022-01-30 2022-01-30 用于血管介入机器人的导引导管的驱动和定位装置
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